128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 160 warnings · 20274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789089478.17917299 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 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_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: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789089478.77725840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.56sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_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 + 4.84sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 ms (missed cycles : 2).[0m ×2 + 6.76sWARNros2_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 + 6.96sINFOjoint_trajectory_controllerReceived new action goal ×3335 + 6.96sINFOjoint_trajectory_controllerAccepted new action goal ×3335 + 6.96sINFOros2_control_nodeReceived new action goal[0m ×6670 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×6670 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508440 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508440 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852091 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852091 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161605 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161605 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429780 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429780 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015850 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015850 ms (missed cycles : 3).[0m ×2 + 11.91sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.91sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.91sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276655 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276655 ms (missed cycles : 2).[0m ×2 + 13.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×4 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727987 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727987 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273682 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273682 ms (missed cycles : 2).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056175 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056175 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174928 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174928 ms (missed cycles : 2).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.960270 ms (missed cycles : 11). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.960270 ms (missed cycles : 11).[0m ×2 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724793 ms (missed cycles : 3). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724793 ms (missed cycles : 3).[0m ×2 + 19.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×4 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873352 ms (missed cycles : 2).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380461 ms (missed cycles : 4). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380461 ms (missed cycles : 4).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.532365 ms (missed cycles : 8). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.532365 ms (missed cycles : 8).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320727 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320727 ms (missed cycles : 2).[0m ×2 + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978398 ms (missed cycles : 2).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955025 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955025 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976736 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976736 ms (missed cycles : 2).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454238 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454238 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745176 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745176 ms (missed cycles : 2).[0m ×2 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265727 ms (missed cycles : 2). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265727 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.678316 ms (missed cycles : 11). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.678316 ms (missed cycles : 11).[0m ×2 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496684 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496684 ms (missed cycles : 2).[0m ×2 + 32.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221307 ms (missed cycles : 4). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221307 ms (missed cycles : 4).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100319 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100319 ms (missed cycles : 2).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409071 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409071 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802731 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802731 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471053 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471053 ms (missed cycles : 2).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180245 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180245 ms (missed cycles : 2).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713551 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713551 ms (missed cycles : 2).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789048 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789048 ms (missed cycles : 2).[0m ×2 + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285521 ms (missed cycles : 2). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285521 ms (missed cycles : 2).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445257 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445257 ms (missed cycles : 2).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544163 ms (missed cycles : 2). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544163 ms (missed cycles : 2).[0m ×2 + 44.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672492 ms (missed cycles : 2). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672492 ms (missed cycles : 2).[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259576 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259576 ms (missed cycles : 2).[0m ×2 + 46.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843194 ms (missed cycles : 2). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843194 ms (missed cycles : 2).[0m ×2 + 46.70sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089522.67803097 seconds ×3 + 47.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789089523.31491995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184814 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184814 ms (missed cycles : 2).[0m ×2 + 47.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.07sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 48.08sINFOros2_control_node[2026-09-11 01:18:43.468] [info] Received new action goal ×2 + 48.08sINFOros2_control_node[2026-09-11 01:18:43.469] [info] Accepted new action goal ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530069 ms (missed cycles : 4). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530069 ms (missed cycles : 4).[0m ×2 + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115502 ms (missed cycles : 3). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115502 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.2s | 153 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_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 ×4 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 7.06sINFOros2_control_node[2026-09-11 01:17:07.087] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-11 01:17:07.087] [info] Accepted new action goal ×2 + 7.62sWARNros2_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 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661576 ms (missed cycles : 4). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661576 ms (missed cycles : 4).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689258 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689258 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939188 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939188 ms (missed cycles : 2).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-11 01:17:10.387] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-11 01:17:10.387] [info] Accepted new action goal ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500402 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500402 ms (missed cycles : 2).[0m ×2 + 12.83sWARNros2_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 ×6 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575480 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575480 ms (missed cycles : 4).[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.41sINFOros2_control_node[2026-09-11 01:17:13.430] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-11 01:17:13.430] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775591 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775591 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408470 ms (missed cycles : 5). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408470 ms (missed cycles : 5).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402961 ms (missed cycles : 3). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402961 ms (missed cycles : 3).[0m ×2 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051458 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051458 ms (missed cycles : 4).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035882 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035882 ms (missed cycles : 2).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659550 ms (missed cycles : 4). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659550 ms (missed cycles : 4).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895964 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895964 ms (missed cycles : 3).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148354 ms (missed cycles : 2). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148354 ms (missed cycles : 2).[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418005 ms (missed cycles : 2). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418005 ms (missed cycles : 2).[0m ×2 + 23.92sINFOobjective_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 + 23.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.92sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546061 ms (missed cycles : 5). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.546061 ms (missed cycles : 5).[0m ×2 + 24.83sINFOros2_control_node[2026-09-11 01:17:24.850] [info] Received new action goal ×2 + 24.83sINFOros2_control_node[2026-09-11 01:17:24.850] [info] Accepted new action goal ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695088 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695088 ms (missed cycles : 2).[0m ×2 + 26.01sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.02sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 26.34sINFOros2_control_node[2026-09-11 01:17:26.364] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-11 01:17:26.364] [info] Accepted new action goal ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085590 ms (missed cycles : 3). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085590 ms (missed cycles : 3).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319891 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319891 ms (missed cycles : 3).[0m ×2 + 28.61sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 28.61sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.63sINFOros2_control_node[2026-09-11 01:17:28.651] [info] Received new action goal ×2 + 28.63sINFOros2_control_node[2026-09-11 01:17:28.651] [info] Accepted new action goal ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429225 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429225 ms (missed cycles : 3).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431895 ms (missed cycles : 2). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431895 ms (missed cycles : 2).[0m ×2 + 29.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680724 ms (missed cycles : 5). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680724 ms (missed cycles : 5).[0m ×2 + 31.81sINFOros2_control_node[2026-09-11 01:17:31.831] [info] Received new action goal ×2 + 31.81sINFOros2_control_node[2026-09-11 01:17:31.831] [info] Accepted new action goal ×2 + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438441 ms (missed cycles : 3). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438441 ms (missed cycles : 3).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182833 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182833 ms (missed cycles : 2).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038225 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038225 ms (missed cycles : 3).[0m ×2 + 34.40sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 34.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.45sINFOros2_control_node[2026-09-11 01:17:34.475] [info] Received new action goal ×2 + 34.45sINFOros2_control_node[2026-09-11 01:17:34.475] [info] Accepted new action goal ×2 + 35.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838609 ms (missed cycles : 5). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.838609 ms (missed cycles : 5).[0m ×2 + 35.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547583 ms (missed cycles : 3). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547583 ms (missed cycles : 3).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184145 ms (missed cycles : 3). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184145 ms (missed cycles : 3).[0m ×2 + 38.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721893 ms (missed cycles : 2). + 38.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721893 ms (missed cycles : 2).[0m ×2 + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314417 ms (missed cycles : 4). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314417 ms (missed cycles : 4).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461226 ms (missed cycles : 4). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461226 ms (missed cycles : 4).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693039 ms (missed cycles : 3). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693039 ms (missed cycles : 3).[0m ×2 + 42.06sINFOros2_control_nodeMuJoCo sim: 0.20% 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 1.772316 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772316 ms (missed cycles : 2).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361854 ms (missed cycles : 6). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361854 ms (missed cycles : 6).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301603 ms (missed cycles : 5). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301603 ms (missed cycles : 5).[0m ×2 + 45.19sINFOros2_control_node[2026-09-11 01:17:45.213] [info] Received new action goal ×2 + 45.19sINFOros2_control_node[2026-09-11 01:17:45.213] [info] Accepted new action goal ×2 + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662251 ms (missed cycles : 2). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662251 ms (missed cycles : 2).[0m ×2 + 46.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789089466.36931539 seconds ×3 + 46.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.95sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.16sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789089467.18739295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679297 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679297 ms (missed cycles : 3).[0m ×2 + 48.38sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 48.40sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.41sINFOros2_control_node[2026-09-11 01:17:48.432] [info] Received new action goal ×2 + 48.41sINFOros2_control_node[2026-09-11 01:17:48.432] [info] Accepted new action goal ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098549 ms (missed cycles : 7). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098549 ms (missed cycles : 7).[0m ×2 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786935 ms (missed cycles : 2). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786935 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 88 warnings · 13752 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2259 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2259 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4518 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4518 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672492 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672492 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259576 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259576 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843194 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843194 ms (missed cycles : 2).[0m ×2 + 2.61sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089522.67803097 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789089523.31491995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184814 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184814 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-09-11 01:18:43.468] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-11 01:18:43.469] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530069 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530069 ms (missed cycles : 4).[0m ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115502 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115502 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937827 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937827 ms (missed cycles : 2).[0m ×2 + 7.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240060 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240060 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500035 ms (missed cycles : 4). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500035 ms (missed cycles : 4).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767295 ms (missed cycles : 5). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767295 ms (missed cycles : 5).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189987 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189987 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267137 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267137 ms (missed cycles : 2).[0m ×2 + 13.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292451 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292451 ms (missed cycles : 3).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262791 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262791 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112243 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112243 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318044 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318044 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849793 ms (missed cycles : 6). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849793 ms (missed cycles : 6).[0m ×2 + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750070 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750070 ms (missed cycles : 2).[0m ×2 + 19.45sWARNros2_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 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305759 ms (missed cycles : 2). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305759 ms (missed cycles : 2).[0m ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706171 ms (missed cycles : 2). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706171 ms (missed cycles : 2).[0m ×2 + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 25.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 25.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.28sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 26.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.30sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 26.30sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 59 warnings · 222 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.06sINFOros2_control_node[2026-09-11 01:16:43.818] [info] Received new action goal ×2 + 0.06sINFOros2_control_node[2026-09-11 01:16:43.819] [info] Accepted new action goal ×2 + 0.16sWARNros2_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 ×4 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3).[0m ×2 + 0.49sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5).[0m ×2 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.99sERRORobjective_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: 1789089406.75092697 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789089407.41958070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.84sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4).[0m ×2 + 6.34sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108341 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108341 ms (missed cycles : 2).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669424 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669424 ms (missed cycles : 2).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330547 ms (missed cycles : 4). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330547 ms (missed cycles : 4).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245202 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245202 ms (missed cycles : 2).[0m ×2 + 11.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4).[0m ×2 + 14.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789089418.66648841 seconds ×3 + 15.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.52sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789089419.32828665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789089419.41844416 seconds ×3 + 16.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.21sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.37sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 16.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.38sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 16.38sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 17.86sWARNros2_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 + 18.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361854 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.361854 ms (missed cycles : 6).[0m ×2 + 0.47sINFOobjective_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 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.47sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301603 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301603 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.37sINFOros2_control_node[2026-09-11 01:17:45.213] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-09-11 01:17:45.213] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662251 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662251 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789089466.36931539 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Push Button" ×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 + 3.35sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789089467.18739295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679297 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679297 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.59sINFOros2_control_node[2026-09-11 01:17:48.432] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-09-11 01:17:48.432] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098549 ms (missed cycles : 7). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098549 ms (missed cycles : 7).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786935 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786935 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158042 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158042 ms (missed cycles : 2).[0m ×2 + 7.98sWARNros2_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 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008171 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008171 ms (missed cycles : 3).[0m ×2 + 8.29sINFOobjective_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 + 8.29sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.29sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607090 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607090 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015047 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015047 ms (missed cycles : 4).[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 10.72sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.74sINFOros2_control_node[2026-09-11 01:17:54.574] [info] Received new action goal ×2 + 10.74sINFOros2_control_node[2026-09-11 01:17:54.574] [info] Accepted new action goal ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2).[0m ×2 + 13.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789089478.17917299 seconds ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5).[0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789089478.77725840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.11sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3).[0m ×2 + 16.38sINFOobjective_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 + 16.39sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_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 + 1.78sERRORobjective_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: 1789089588.24838805 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.36sINFOobjective_server_nodecaller: ×14 + 2.36sINFOobjective_server_nodetype: 0 ×14 + 2.36sINFOobjective_server_nodename: "" ×14 + 2.36sINFOobjective_server_nodeinstance_id: "" ×14 + 2.36sINFOobjective_server_node ×14 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 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 (3.39e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2).[0m ×2 + 7.24sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.24sINFOros2_control_node[2026-09-11 01:19:53.711] [info] Received new action goal ×2 + 7.24sINFOros2_control_node[2026-09-11 01:19:53.711] [info] Accepted new action goal ×2 + 7.24sINFOros2_control_node[2026-09-11 01:19:53.711] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773469 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773469 ms (missed cycles : 2).[0m ×2 + 8.44sWARNros2_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 ×4 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716106 ms (missed cycles : 5). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716106 ms (missed cycles : 5).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786045 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786045 ms (missed cycles : 2).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653470 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653470 ms (missed cycles : 4).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 14.28sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 14.28sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 14.28sERRORobjective_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: 1789089600.75231552 seconds ×3 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 15.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 16.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.01sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.06sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 16.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.67sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 17.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.29sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 17.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 17.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 57 warnings · 290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.82sINFOobjective_server_nodecaller: ×8 + 2.82sINFOobjective_server_nodetype: 0 ×8 + 2.82sINFOobjective_server_nodename: "" ×8 + 2.82sINFOobjective_server_nodeinstance_id: "" ×8 + 2.82sINFOobjective_server_node ×8 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839051 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839051 ms (missed cycles : 2).[0m ×2 + 8.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 1 iterations (0.00477743 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.65sINFOros2_control_node[2026-09-11 01:16:07.824] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-09-11 01:16:07.824] [info] Accepted new action goal ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448331 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448331 ms (missed cycles : 2).[0m ×2 + 9.69sWARNros2_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 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954169 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954169 ms (missed cycles : 2).[0m ×2 + 10.95sINFOros2_control_node[2026-09-11 01:16:10.126] [info] Received new action goal ×2 + 10.95sINFOros2_control_node[2026-09-11 01:16:10.126] [info] Accepted new action goal ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103755 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103755 ms (missed cycles : 2).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 12.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.82sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 15.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.44sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 15.56sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.58sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 15.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.71sINFOobjective_server_nodecaller: ×12 + 0.71sINFOobjective_server_nodetype: 0 ×12 + 0.71sINFOobjective_server_nodename: "" ×12 + 0.71sINFOobjective_server_nodeinstance_id: "" ×12 + 0.71sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 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 ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_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 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.72sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.22sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.25sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760928 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760928 ms (missed cycles : 5).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401951 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401951 ms (missed cycles : 3).[0m ×2 + 8.55sWARNros2_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 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504874 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504874 ms (missed cycles : 3).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880217 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880217 ms (missed cycles : 2).[0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 10.06sINFOros2_control_node[2026-09-11 01:15:46.318] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-09-11 01:15:46.318] [info] Accepted new action goal ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570023 ms (missed cycles : 4). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570023 ms (missed cycles : 4).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800213 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800213 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505769 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505769 ms (missed cycles : 3).[0m ×2 + 13.37sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 13.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.40sINFOros2_control_node[2026-09-11 01:15:49.652] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-11 01:15:49.652] [info] Accepted new action goal ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538811 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538811 ms (missed cycles : 4).[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 + 14.09sINFOros2_control_node[2026-09-11 01:15:50.348] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-09-11 01:15:50.348] [info] Canceling active goal... ×2 + 14.11sERRORobjective_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: 1789089350.36447144 seconds ×3 + 14.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.64sINFOobjective_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: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789089350.97542214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 14.92sINFOros2_control_node[2026-09-11 01:15:51.179] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-09-11 01:15:51.179] [info] Accepted new action goal ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457900 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457900 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171148 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171148 ms (missed cycles : 2).[0m ×2 + 17.20sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.21sINFOros2_control_node[2026-09-11 01:15:53.469] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-09-11 01:15:53.469] [info] Accepted new action goal ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085831 ms (missed cycles : 4). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085831 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800213 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800213 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505769 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505769 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.47sINFOros2_control_node[2026-09-11 01:15:49.652] [info] Received new action goal ×2 + 1.47sINFOros2_control_node[2026-09-11 01:15:49.652] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538811 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538811 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.17sINFOros2_control_node[2026-09-11 01:15:50.348] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-09-11 01:15:50.348] [info] Canceling active goal... ×2 + 2.19sERRORobjective_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: 1789089350.36447144 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sINFOobjective_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: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.72sINFOobjective_server_nodecaller: ×6 + 2.72sINFOobjective_server_nodetype: 0 ×6 + 2.72sINFOobjective_server_nodename: "" ×6 + 2.72sINFOobjective_server_nodeinstance_id: "" ×6 + 2.72sINFOobjective_server_node ×6 + 2.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789089350.97542214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.00sINFOros2_control_node[2026-09-11 01:15:51.179] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-11 01:15:51.179] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457900 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457900 ms (missed cycles : 2).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171148 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171148 ms (missed cycles : 2).[0m ×2 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.29sINFOros2_control_node[2026-09-11 01:15:53.469] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-09-11 01:15:53.469] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085831 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085831 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492604 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492604 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980676 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980676 ms (missed cycles : 2).[0m ×2 + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346396 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346396 ms (missed cycles : 3).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147208 ms (missed cycles : 4). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147208 ms (missed cycles : 4).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 12.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 13.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 13.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 13.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 13.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 13.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 13.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 13.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 13.19sINFOobjective_server_nodeFailing stage(s): ×2 + 13.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 14.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 62 warnings · 206 info |
+ 0.00sWARNros2_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 ×6 + 0.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.18sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789089392.85348701 seconds ×3 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782283 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782283 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740336 ms (missed cycles : 4). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740336 ms (missed cycles : 4).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288856 ms (missed cycles : 5). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288856 ms (missed cycles : 5).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789089396.36292887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017871 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017871 ms (missed cycles : 2).[0m ×2 + 3.92sINFOros2_control_node[2026-09-11 01:16:36.557] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:16:36.557] [info] Accepted new action goal ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326504 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326504 ms (missed cycles : 2).[0m ×2 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223007 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223007 ms (missed cycles : 4).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237859 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237859 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.17sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 5 iterations (0.00500313 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713752 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713752 ms (missed cycles : 3).[0m ×2 + 8.30sINFOros2_control_node[2026-09-11 01:16:40.940] [info] Received new action goal ×2 + 8.30sINFOros2_control_node[2026-09-11 01:16:40.940] [info] Accepted new action goal ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962874 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962874 ms (missed cycles : 3).[0m ×2 + 9.45sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041825 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041825 ms (missed cycles : 3).[0m ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 10.95sINFOobjective_server_nodeFound path in 1 iterations (0.00304805 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.18sINFOros2_control_node[2026-09-11 01:16:43.818] [info] Received new action goal ×2 + 11.18sINFOros2_control_node[2026-09-11 01:16:43.819] [info] Accepted new action goal ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3).[0m ×2 + 11.61sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Received new action goal ×2 + 11.61sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Accepted new action goal ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.11sERRORobjective_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: 1789089406.75092697 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789089407.41958070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 14.95sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4).[0m ×2 + 17.46sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Received new action goal ×2 + 17.46sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Accepted new action goal ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442068 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442068 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789089577.24920678 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.36sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.36sINFOobjective_server_nodecaller: ×8 + 3.36sINFOobjective_server_nodetype: 0 ×8 + 3.36sINFOobjective_server_nodename: "" ×8 + 3.36sINFOobjective_server_nodeinstance_id: "" ×8 + 3.36sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789089577.89800954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6).[0m ×2 + 4.44sWARNros2_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 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729607 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729607 ms (missed cycles : 5).[0m ×2 + 7.61sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060515 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060515 ms (missed cycles : 4).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430010 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430010 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038660 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038660 ms (missed cycles : 2).[0m ×2 + 10.42sWARNros2_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 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 13.76sINFOobjective_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 + 13.77sERRORobjective_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: 1789089588.24838805 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.08sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.10sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 15.44sWARNros2_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 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (6.16e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 5 iterations (0.00575573 s). ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354053 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354053 ms (missed cycles : 4).[0m ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (6.31e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.43sINFOros2_control_node[2026-09-11 01:16:30.298] [info] Received new action goal ×2 + 8.43sINFOros2_control_node[2026-09-11 01:16:30.298] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709442 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709442 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779032 ms (missed cycles : 5). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779032 ms (missed cycles : 5).[0m ×2 + 10.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.95sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789089392.85348701 seconds ×3 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782283 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782283 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740336 ms (missed cycles : 4). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740336 ms (missed cycles : 4).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288856 ms (missed cycles : 5). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288856 ms (missed cycles : 5).[0m ×2 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.49sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789089396.36292887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017871 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017871 ms (missed cycles : 2).[0m ×2 + 14.69sINFOros2_control_node[2026-09-11 01:16:36.557] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-09-11 01:16:36.557] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326504 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326504 ms (missed cycles : 2).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223007 ms (missed cycles : 4). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223007 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172011 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172011 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269974 ms (missed cycles : 3). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269974 ms (missed cycles : 3).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438085 ms (missed cycles : 4).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549851 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549851 ms (missed cycles : 2).[0m ×2 + 10.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870160 ms (missed cycles : 2). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870160 ms (missed cycles : 2).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2).[0m ×2 + 14.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089566.74808669 seconds ×3 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4).[0m ×2 + 14.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789089567.34012246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.91sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Accepted new action goal ×2 + 15.13sWARNros2_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 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 54 warnings · 2260 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893269 ms (missed cycles : 5). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893269 ms (missed cycles : 5).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.222100 ms (missed cycles : 8). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.222100 ms (missed cycles : 8).[0m ×2 + 8.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 1 iterations (0.00403738 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.81sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.82sINFOros2_control_node[2026-09-11 01:19:10.444] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-09-11 01:19:10.444] [info] Accepted new action goal ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655297 ms (missed cycles : 4). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655297 ms (missed cycles : 4).[0m ×2 + 10.02sWARNros2_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 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313001 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313001 ms (missed cycles : 2).[0m ×2 + 11.13sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 11.13sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 12.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.00sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 13.00sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 14.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 14.13sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 14.14sERRORobjective_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: 1789089555.76201510 seconds ×3 + 14.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 14.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 15.02sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 15.35sWARNros2_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 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 16.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.83sINFOros2_control_node[2026-09-11 01:16:18.109] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-11 01:16:18.109] [info] Accepted new action goal ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943970 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943970 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161927 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161927 ms (missed cycles : 2).[0m ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×4 + 9.17sINFOros2_control_node[2026-09-11 01:16:20.447] [info] Received new action goal ×2 + 9.17sINFOros2_control_node[2026-09-11 01:16:20.447] [info] Accepted new action goal ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.049350 ms (missed cycles : 7). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.049350 ms (missed cycles : 7).[0m ×2 + 9.46sWARNros2_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 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.53sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 11.53sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 13.46sINFOobjective_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 + 13.47sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 13.47sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1789089384.75934410 seconds ×3 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.11sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.31sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 14.31sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 15.40sWARNros2_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 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870160 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870160 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sERRORobjective_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: 1789089566.74808669 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789089567.34012246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.80sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Accepted new action goal ×2 + 4.02sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844425 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844425 ms (missed cycles : 3).[0m ×2 + 7.81sINFOros2_control_node[2026-09-11 01:19:31.664] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-11 01:19:31.664] [info] Accepted new action goal ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541283 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541283 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743296 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743296 ms (missed cycles : 3).[0m ×2 + 9.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442068 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442068 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6).[0m ×2 + 13.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789089577.24920678 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4).[0m ×2 + 13.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789089577.89800954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.16sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Received new action goal ×2 + 14.16sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Accepted new action goal ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6).[0m ×2 + 15.05sWARNros2_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 + 16.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 61 errors · 36 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 0.06sINFOobjective_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 + 0.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 0.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 0.07sERRORobjective_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: 1789089600.75231552 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.25sWARNros2_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 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.62sINFOobjective_server_nodecaller: ×8 + 0.62sINFOobjective_server_nodetype: 0 ×8 + 0.62sINFOobjective_server_nodename: "" ×8 + 0.62sINFOobjective_server_nodeinstance_id: "" ×8 + 0.62sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 1.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.85sINFOobjective_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 + 1.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[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 + 2.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 3.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026882 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026882 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031450 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031450 ms (missed cycles : 4).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681759 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681759 ms (missed cycles : 2).[0m ×2 + 9.25sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.25sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.26sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.26sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.26sERRORweb_video_auth_proxy-23process has died [pid 7465, 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 + 9.26sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.27sERRORweb_bridge_auth_proxy-22process has died [pid 7464, 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 + 9.27sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.27sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.28sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.28sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.28sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.29sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.29sINFOvideo_server-21process has finished cleanly [pid 7462] ×2 + 9.29sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.30sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.30sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.31sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.31sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.32sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.33sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.33sINFOcontroller_managerShutdown request received.... + 9.33sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.33sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.33sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.33sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.33sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.33sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.33sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.33sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.33sINFOvideo_server2026/09/11 01:20:09 INF shutting down gracefully ×2 + 9.33sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.33sINFOvideo_server2026/09/11 01:20:09 INF [WebRTC] closing ×2 + 9.33sINFOvideo_server2026/09/11 01:20:09 INF [RTSP] closing ×2 + 9.33sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.33sINFOvideo_server2026/09/11 01:20:09 INF waiting for running hooks ×2 + 9.33sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.33sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.33sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.33sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.33sINFOcontroller_managerShutting down the controller manager. + 9.33sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.33sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.33sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.33sERRORmove_groupStack trace (most recent call last) in thread 7821: ×2 + 9.33sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.33sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.33sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.33sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.33sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.33sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.33sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.33sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.33sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.33sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.33sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.33sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.34sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f47b95fca63, in __clone ×2 + 9.34sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f47b956faa3, in ×2 + 9.34sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.34sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f47b9801db3, in ×2 + 9.34sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f47b9f65b34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.34sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f47b9b93620, in rclcpp::Rate::sleep() ×2 + 9.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f47b9ad5d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f47b9a97087, in ×2 + 9.34sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f47b97d0390, in __cxa_throw ×2 + 9.34sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f47b97baa54, in std::terminate() ×2 + 9.34sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f47b97d00d9, in ×2 + 9.34sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f47b97baff4, in ×2 + 9.34sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f47b94fb8fe, in abort ×2 + 9.34sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f47b951827d, in raise ×2 + 9.34sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f47b9571b2c, in pthread_kill ×2 + 9.34sERRORmove_groupAborted (Signal sent by tkill() 7384 0) ×2 + 9.35sERRORmove_group-9process has died [pid 7384, 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_gdlv844v --params-file /tmp/launch_params_9gpnx0nx --params-file /tmp/launch_params_ez7_g5u0 --params-file /tmp/launch_params_hhwhj_l0 --params-file /tmp/launch_params_nz1p6zgw --params-file /tmp/launch_params_qlu6n3r7']. ×2 + 9.54sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.54sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 9.54sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.33sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7461] ×2 + 10.33sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.35sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7388] ×2 + 10.35sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7387] ×2 + 10.38sINFOexecute_objective_bridge-17process has finished cleanly [pid 7392] ×2 + 10.39sINFOcomponent_container_mt-16process has finished cleanly [pid 7391] ×2 + 10.39sINFOui_teleop_bridge-18process has finished cleanly [pid 7393] ×2 + 10.39sINFOwaypoint_manager_node-11process has finished cleanly [pid 7386] ×2 + 10.40sINFOparameter_manager_node-10process has finished cleanly [pid 7385] ×2 + 10.48sINFOobjective_server_node[0;m[2026-09-11 01:20:11.160] [moveit_pro_license] [info] ×2 + 10.48sINFOobjective_server_node************************************************* ×4 + 10.48sINFOobjective_server_node* MoveIt Pro License ×2 + 10.48sINFOobjective_server_node* Application has successfully terminated ×2 + 10.61sINFOobjective_server_node_main-14process has finished cleanly [pid 7389] ×2 + 10.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.36sINFOweb_bridge-19process has finished cleanly [pid 7394] ×2 + 11.36sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 11.48sINFOcomponent_container_mt-15process has finished cleanly [pid 7390] ×2 + 11.96sINFOros2_control_node-1process has finished cleanly [pid 7335] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789089418.66648841 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_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: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.94sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 `Load MuJoCo Robot State` starting at time: 1789089419.32828665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.03sINFOros2_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 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789089419.41844416 seconds ×3 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.80sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 4.28sWARNros2_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 + 4.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.46sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.55sINFOobjective_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 + 6.55sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.83sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 6.88sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 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 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 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_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 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 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×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 + 0.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [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 ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 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 4.957269 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957269 ms (missed cycles : 3).[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.12sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.27sINFOcomponent_container_mt[2026-09-11 01:15:32.331] [moveit_pro_license] [info] ×2 + 0.27sINFOcomponent_container_mt************************************************* ×4 + 0.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7337] ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOros2_control_node[2026-09-11 01:15:32.542] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_node[2026-09-11 01:15:32.543] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.53sINFOros2_control_node[2026-09-11 01:15:32.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.53sINFOros2_control_node[2026-09-11 01:15:32.586] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-11 01:15:32.592] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.54sINFOros2_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 + 0.54sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.54sWARNros2_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 + 0.72sWARNobjective_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 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.86sINFOros2-6process has finished cleanly [pid 7351] ×2 + 0.88sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-11 01:15:33.004] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-11 01:15:33.005] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298930 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298930 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 1.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.31sINFOros2-8process has finished cleanly [pid 7353] ×2 + 1.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.31sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.31sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 1.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 1.67sINFOros2-4process has finished cleanly [pid 7349] ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.71sINFOforce_torque_sensor_broadcasterconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.72sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.72sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 2.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 2.04sINFOros2-2process has finished cleanly [pid 7336] ×2 + 2.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.39sINFOros2-5process has finished cleanly [pid 7350] ×2 + 2.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 2.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 2.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.50sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 2.50sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.58sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.58sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.58sINFOobjective_server_nodecaller: ×14 + 2.58sINFOobjective_server_nodetype: 0 ×14 + 2.58sINFOobjective_server_nodename: "" ×14 + 2.58sINFOobjective_server_nodeinstance_id: "" ×14 + 2.58sINFOobjective_server_node ×14 + 2.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 2.84sINFOros2-7process has finished cleanly [pid 7352] ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 4.20sWARNros2_control_nodeCamera render tick took 1.81 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 + 4.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 6.72sWARNros2_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 + 7.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 7.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.80sINFOobjective_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 + 7.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.92sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1789089600.75231552 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sWARNros2_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 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 25 warnings · 163 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789089418.66648841 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789089419.32828665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789089419.41844416 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_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 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_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 + 2.86sERRORobjective_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: 1789089588.24838805 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.43sINFOobjective_server_nodecaller: ×6 + 3.43sINFOobjective_server_nodetype: 0 ×6 + 3.43sINFOobjective_server_nodename: "" ×6 + 3.43sINFOobjective_server_nodeinstance_id: "" ×6 + 3.43sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[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 6.656215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 1.06sINFOobjective_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 + 1.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 1.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 1.07sERRORobjective_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: 1789089600.75231552 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sWARNros2_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 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.62sINFOobjective_server_nodecaller: ×8 + 1.62sINFOobjective_server_nodetype: 0 ×8 + 1.62sINFOobjective_server_nodename: "" ×8 + 1.62sINFOobjective_server_nodeinstance_id: "" ×8 + 1.62sINFOobjective_server_node ×8 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.85sINFOobjective_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 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 4.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 508 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 7349] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7336] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 1.18sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_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 + 1.78sERRORobjective_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: 1789089588.24838805 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 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 (3.39e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 1.06sINFOobjective_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 + 1.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 1.07sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 1.07sERRORobjective_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: 1789089600.75231552 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sWARNros2_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 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.62sINFOobjective_server_nodecaller: ×8 + 1.62sINFOobjective_server_nodetype: 0 ×8 + 1.62sINFOobjective_server_nodename: "" ×8 + 1.62sINFOobjective_server_nodeinstance_id: "" ×8 + 1.62sINFOobjective_server_node ×8 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.85sINFOobjective_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 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 4.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805253 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257636 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284638 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778568 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.91sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 2.06sINFOobjective_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 + 2.19sINFOobjective_server_node0 - ← 0 → - 0 / pick_object ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / current state ×2 + 2.19sINFOobjective_server_node- 1 → 0 ← 0 - / Connect with ProRRT ×2 + 2.19sINFOobjective_server_node0 - ← 0 ← 4 - / Cartesian Motion ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / Batch Pose IK ×2 + 2.19sINFOobjective_server_node4 - ← 4 → - 4 / pose IK ×2 + 2.19sINFOobjective_server_node1 - ← 1 → - 1 / Generate Poses ×2 + 2.19sINFOobjective_server_nodeFailing stage(s): ×2 + 2.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089361.39197087 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712201 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089362.07570839 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089362.16582918 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089362.78517795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746882 ms (missed cycles : 3).[0m ×2 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:16:02.989] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053756 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099688 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371858 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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[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 5.834201 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834201 ms (missed cycles : 4).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-09-11 01:16:11.998] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592040 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089373.29533529 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732377 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.55sINFOobjective_server_nodecaller: ×4 + 2.55sINFOobjective_server_nodetype: 0 ×4 + 2.55sINFOobjective_server_nodename: "" ×4 + 2.55sINFOobjective_server_nodeinstance_id: "" ×4 + 2.55sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089373.91874528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089373.97887206 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971543 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089374.61564350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-09-11 01:16:14.758] [info] Accepted new action goal ×2 + 3.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179071 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303368 ms (missed cycles : 4).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383420 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581945 ms (missed cycles : 2).[0m ×2 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-11 01:16:22.808] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937008 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873300 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Got request to cancel active goal. ×2 + 2.87sINFOros2_control_node[2026-09-11 01:16:24.745] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1789089384.75934410 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_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 1.837700 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837700 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089385.39147162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-11 01:16:25.585] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523246 ms (missed cycles : 2).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861150 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855527 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.06sINFOros2_control_node[2026-09-11 01:16:43.818] [info] Received new action goal ×2 + 0.06sINFOros2_control_node[2026-09-11 01:16:43.819] [info] Accepted new action goal ×2 + 0.16sWARNros2_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 ×4 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763394 ms (missed cycles : 3).[0m ×2 + 0.49sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-11 01:16:44.250] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.208047 ms (missed cycles : 5).[0m ×2 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157964 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.99sERRORobjective_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: 1789089406.75092697 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309925 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789089407.41958070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.84sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-11 01:16:47.593] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746439 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074493 ms (missed cycles : 4).[0m ×2 + 6.34sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-09-11 01:16:50.094] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948911 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956106 ms (missed cycles : 5).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852913 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110643 ms (missed cycles : 4).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789089418.66648841 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789089419.32828665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771303 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789089419.41844416 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_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 + 6.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789089420.02454686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.138] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:17:00.139] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180674 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752789 ms (missed cycles : 3).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789089422.14468336 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364678 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353670 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789089423.80289078 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:17:04.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259130 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782915 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944079 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481318 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673538 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.531119 ms (missed cycles : 9).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789089478.17917299 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 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616643 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_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: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789089478.77725840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.56sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-11 01:17:58.951] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861458 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_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 + 4.84sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737034 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762601 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 · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163149 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451399 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497002 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789089544.81945181 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777276 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789089545.54696774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-09-11 01:19:05.771] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943738 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269359 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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[2026-09-11 01:19:12.746] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:19:12.746] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076426 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436854 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.620] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-11 01:19:14.621] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946396 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-11 01:19:15.747] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789089555.76201510 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375816 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_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 + 3.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789089556.44741154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-11 01:19:16.641] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858319 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826711 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_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 2.870160 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870160 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377235 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032351 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.89sERRORobjective_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: 1789089566.74808669 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.357313 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789089567.34012246 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.80sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-11 01:19:27.656] [info] Accepted new action goal ×2 + 4.02sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587677 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692392 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132330 ms (missed cycles : 4).[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 5.442068 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442068 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738577 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392598 ms (missed cycles : 6).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789089577.24920678 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353794 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789089577.89800954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-11 01:19:38.022] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567458 ms (missed cycles : 6).[0m ×2 + 4.44sWARNros2_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 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404166 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_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 + 2.86sERRORobjective_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: 1789089588.24838805 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.43sINFOobjective_server_nodecaller: ×6 + 3.43sINFOobjective_server_nodetype: 0 ×6 + 3.43sINFOobjective_server_nodename: "" ×6 + 3.43sINFOobjective_server_nodeinstance_id: "" ×6 + 3.43sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_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 + 2.86sERRORobjective_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: 1789089588.24838805 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.43sINFOobjective_server_nodecaller: ×6 + 3.43sINFOobjective_server_nodetype: 0 ×6 + 3.43sINFOobjective_server_nodename: "" ×6 + 3.43sINFOobjective_server_nodeinstance_id: "" ×6 + 3.43sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_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 + 2.86sERRORobjective_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: 1789089588.24838805 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.43sINFOobjective_server_nodecaller: ×6 + 3.43sINFOobjective_server_nodetype: 0 ×6 + 3.43sINFOobjective_server_nodename: "" ×6 + 3.43sINFOobjective_server_nodeinstance_id: "" ×6 + 3.43sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741720 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_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 + 2.86sERRORobjective_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: 1789089588.24838805 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.43sINFOobjective_server_nodecaller: ×6 + 3.43sINFOobjective_server_nodetype: 0 ×6 + 3.43sINFOobjective_server_nodename: "" ×6 + 3.43sINFOobjective_server_nodeinstance_id: "" ×6 + 3.43sINFOobjective_server_node ×6 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_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 + 1.78sERRORobjective_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: 1789089588.24838805 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 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 (3.39e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_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 + 1.78sERRORobjective_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: 1789089588.24838805 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 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 (3.39e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252055 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829243 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_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 + 1.78sERRORobjective_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: 1789089588.24838805 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326232 ms (missed cycles : 5).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789089588.88229132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789089588.96244884 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789089589.55594969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789089589.57916307 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940726 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789089590.26769328 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 (3.39e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-11 01:19:50.391] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208026 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677846 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622923 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1789089600.75231552 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sWARNros2_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 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244686 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656215 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084595 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Got request to cancel active goal. ×2 + 2.21sINFOros2_control_node[2026-09-11 01:20:00.747] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1789089600.75231552 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sWARNros2_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 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789089601.37639093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403229 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789089601.93654513 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789089602.52972913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789089602.53222775 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769255 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789089603.19307303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789089603.22390223 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789089603.81258845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348703 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789089604.29568529 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [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 | 7.0s | 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/2026-09-11-01-15-27-748676-e6731e4fedab-7287 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119376 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7335] ×2 + 0.83sINFOmove_group-9process started with pid [7384] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7385] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7386] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7387] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7388] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7389] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7390] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7391] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7392] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7393] ×2 + 0.83sINFOweb_bridge-19process started with pid [7394] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7461] ×2 + 0.83sINFOvideo_server-21process started with pid [7462] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7464] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7465] ×2 + 0.83sINFOros2-2process started with pid [7336] ×2 + 0.83sINFOros2-3process started with pid [7337] ×2 + 0.83sINFOros2-4process started with pid [7349] ×2 + 0.83sINFOros2-5process started with pid [7350] ×2 + 0.83sINFOros2-6process started with pid [7351] ×2 + 0.83sINFOros2-7process started with pid [7352] ×2 + 0.83sINFOros2-8process started with pid [7353] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119376 ms (missed cycles : 2).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF configuration loaded from /tmp/moveit-webrtc-_2xeyve5/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.12sINFOvideo_server2026/09/11 01:15:29 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.46sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOmove_group[2026-09-11 01:15:30.073] [moveit_pro_license] [info] ×2 + 1.95sINFOmove_group************************************************* ×4 + 1.95sINFOmove_group* MoveIt Pro License ×2 + 1.95sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.10sINFOros2_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 + 2.17sINFOwaypoint_manager_node[2026-09-11 01:15:30.291] [moveit_pro_license] [info] ×2 + 2.17sINFOwaypoint_manager_node************************************************* ×4 + 2.17sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652288 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652288 ms (missed cycles : 2).[0m ×2 + 2.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOmove_group ×4 + 2.43sINFOmove_group[92mYou can start planning now![0m ×2 + 3.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.31sINFOlaunch_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 + 3.49sINFOobjective_server_node[2026-09-11 01:15:31.612] [moveit_pro_license] [info] ×2 + 3.49sINFOobjective_server_node************************************************* ×4 + 3.49sINFOobjective_server_node* MoveIt Pro License ×2 + 3.49sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.60sINFOobjective_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 + 3.61sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.94sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.94sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.94sWARNros2_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 + 3.94sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.94sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.94sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.94sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.94sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.94sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.94sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.94sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.94sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.94sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.94sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.94sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.94sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.94sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.94sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.94sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.96sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.96sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.96sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.96sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.97sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 3.97sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 3.98sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.98sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.98sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.98sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.98sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.98sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.98sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957269 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.957269 ms (missed cycles : 3).[0m ×2 + 3.99sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.99sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.06sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.21sINFOcomponent_container_mt[2026-09-11 01:15:32.331] [moveit_pro_license] [info] ×2 + 4.21sINFOcomponent_container_mt************************************************* ×4 + 4.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.28sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.28sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.28sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.33sINFOros2-3process has finished cleanly [pid 7337] ×2 + 4.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 4.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 4.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.42sINFOros2_control_node[2026-09-11 01:15:32.542] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.42sINFOros2_control_node[2026-09-11 01:15:32.543] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.47sINFOros2_control_node[2026-09-11 01:15:32.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.47sINFOros2_control_node[2026-09-11 01:15:32.586] [info] Controller state will be published at 50 Hz. ×2 + 4.47sINFOros2_control_node[2026-09-11 01:15:32.592] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.48sINFOros2_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 + 4.48sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.48sWARNros2_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 + 4.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.80sINFOros2-6process has finished cleanly [pid 7351] ×2 + 4.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 4.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 4.85sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.85sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.86sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.86sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.88sINFOros2_control_node[2026-09-11 01:15:33.004] [info] Controller state will be published at 20 Hz. ×2 + 4.88sINFOros2_control_node[2026-09-11 01:15:33.005] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298930 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298930 ms (missed cycles : 2).[0m ×2 + 5.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 5.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 5.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.24sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.24sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.24sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.24sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.24sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.24sINFOros2-8process has finished cleanly [pid 7353] ×2 + 5.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.60sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.60sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.60sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.60sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 5.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 5.61sINFOros2-4process has finished cleanly [pid 7349] ×2 + 5.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.65sINFOforce_torque_sensor_broadcasterconfigure successful + 5.65sINFOros2_control_nodeconfigure successful[0m ×2 + 5.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.94sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.94sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 5.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 5.98sINFOros2-2process has finished cleanly [pid 7336] ×2 + 6.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.01sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.32sINFOros2-5process has finished cleanly [pid 7350] ×2 + 6.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 6.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 6.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.44sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 6.44sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.52sINFOobjective_server_nodecaller: ×10 + 6.52sINFOobjective_server_nodetype: 0 ×10 + 6.52sINFOobjective_server_nodename: "" ×10 + 6.52sINFOobjective_server_nodeinstance_id: "" ×10 + 6.52sINFOobjective_server_node ×10 + 6.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 6.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 6.78sINFOros2-7process has finished cleanly [pid 7352] ×2 + 7.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 8.14sWARNros2_control_nodeCamera render tick took 1.81 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 + 8.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 8.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 9.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 10.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7352] ×2 + 0.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.38sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.38sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.38sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.38sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.38sINFOobjective_server_nodecaller: ×12 + 0.38sINFOobjective_server_nodetype: 0 ×12 + 0.38sINFOobjective_server_nodename: "" ×12 + 0.38sINFOobjective_server_nodeinstance_id: "" ×12 + 0.38sINFOobjective_server_node ×12 + 0.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 1.39sWARNros2_control_nodeCamera render tick took 1.81 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 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 3.91sWARNros2_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 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 7.22sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.65sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 410 info |
+ 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.27sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.27sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.34sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.34sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.39sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.41sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.41sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 4.63sWARNros2_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 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.83sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [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/2026-09-11-01-15-27-748676-e6731e4fedab-7287 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119376 ms (missed cycles : 2). + 0.83sINFOros2_control_node-1process started with pid [7335] ×2 + 0.83sINFOmove_group-9process started with pid [7384] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7385] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7386] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7387] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7388] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7389] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7390] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7391] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7392] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7393] ×2 + 0.83sINFOweb_bridge-19process started with pid [7394] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7461] ×2 + 0.83sINFOvideo_server-21process started with pid [7462] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7464] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7465] ×2 + 0.83sINFOros2-2process started with pid [7336] ×2 + 0.83sINFOros2-3process started with pid [7337] ×2 + 0.83sINFOros2-4process started with pid [7349] ×2 + 0.83sINFOros2-5process started with pid [7350] ×2 + 0.83sINFOros2-6process started with pid [7351] ×2 + 0.83sINFOros2-7process started with pid [7352] ×2 + 0.83sINFOros2-8process started with pid [7353] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119376 ms (missed cycles : 2).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF configuration loaded from /tmp/moveit-webrtc-_2xeyve5/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/11 01:15:29 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.12sINFOvideo_server2026/09/11 01:15:29 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.46sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOmove_group[2026-09-11 01:15:30.073] [moveit_pro_license] [info] ×2 + 1.95sINFOmove_group************************************************* ×4 + 1.95sINFOmove_group* MoveIt Pro License ×2 + 1.95sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.10sINFOros2_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 + 2.17sINFOwaypoint_manager_node[2026-09-11 01:15:30.291] [moveit_pro_license] [info] ×2 + 2.17sINFOwaypoint_manager_node************************************************* ×4 + 2.17sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652288 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652288 ms (missed cycles : 2).[0m ×2 + 2.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOmove_group ×4 + 2.43sINFOmove_group[92mYou can start planning now![0m ×2 + 3.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.31sINFOlaunch_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 + 3.49sINFOobjective_server_node[2026-09-11 01:15:31.612] [moveit_pro_license] [info] ×2 + 3.49sINFOobjective_server_node************************************************* ×4 + 3.49sINFOobjective_server_node* MoveIt Pro License ×2 + 3.49sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.60sINFOobjective_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 + 3.61sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.62sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 508 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 7349] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7336] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 1.18sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 508 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 7349] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7336] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 1.18sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 508 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 7349] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7336] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.92sINFOobjective_server_nodecaller: ×14 + 0.92sINFOobjective_server_nodetype: 0 ×14 + 0.92sINFOobjective_server_nodename: "" ×14 + 0.92sINFOobjective_server_nodeinstance_id: "" ×14 + 0.92sINFOobjective_server_node ×14 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 1.18sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 6.25sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 410 info |
+ 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.27sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.27sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7350] ×2 + 0.34sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l + 0.34sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pfq70_nl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1x2gkt9h --params-file /tmp/launch_params_qi4b3z7l [0m ×2 + 0.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.39sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.41sINFOros2_control_node[2026-09-11 01:15:34.561] [info] Controller state will be published at 10 Hz. ×2 + 0.41sINFOros2_control_node[2026-09-11 01:15:34.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089334.69296694 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089334.70319510 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2-7process has finished cleanly [pid 7352] ×2 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_control_nodeCamera render tick took 1.81 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 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 4.63sWARNros2_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 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.83sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122386 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7352] ×2 + 0.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.38sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.38sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.38sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.38sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.38sINFOobjective_server_nodecaller: ×12 + 0.38sINFOobjective_server_nodetype: 0 ×12 + 0.38sINFOobjective_server_nodename: "" ×12 + 0.38sINFOobjective_server_nodeinstance_id: "" ×12 + 0.38sINFOobjective_server_node ×12 + 0.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089335.29002333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 1.39sWARNros2_control_nodeCamera render tick took 1.81 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 + 1.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 3.91sWARNros2_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 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [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 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760928 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760928 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790545 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodeCamera render tick took 1.81 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 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089336.40015149 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.84sINFOobjective_server_nodecaller: ×10 + 0.84sINFOobjective_server_nodetype: 0 ×10 + 0.84sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089337.02834606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089337.08855724 seconds ×3 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089337.74867845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089337.75878787 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089338.34740829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089338.49924541 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147883 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089339.20349550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089339.24362421 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090091 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089339.84807634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_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 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.4174e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:15:39.974] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884295 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256683 ms (missed cycles : 5).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-11 01:15:42.512] [info] Accepted new action goal ×2 | ||||