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 | 163 warnings · 20022 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789090075.78758788 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOobjective_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: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789090076.40631247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.93sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3).[0m ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×3293 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×3293 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×6586 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6586 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663490 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663490 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848284 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848284 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798642 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798642 ms (missed cycles : 2).[0m ×2 + 8.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043358 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043358 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.327989 ms (missed cycles : 7). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.327989 ms (missed cycles : 7).[0m ×2 + 11.27sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.27sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.27sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731370 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731370 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299630 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299630 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969994 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969994 ms (missed cycles : 2).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146737 ms (missed cycles : 8). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.146737 ms (missed cycles : 8).[0m ×2 + 15.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743144 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743144 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813989 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813989 ms (missed cycles : 2).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691593 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691593 ms (missed cycles : 2).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332384 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332384 ms (missed cycles : 2).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673151 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673151 ms (missed cycles : 2).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832694 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832694 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994019 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994019 ms (missed cycles : 2).[0m ×2 + 22.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745995 ms (missed cycles : 2). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745995 ms (missed cycles : 2).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990679 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990679 ms (missed cycles : 2).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677521 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677521 ms (missed cycles : 2).[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763896 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763896 ms (missed cycles : 2).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168746 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168746 ms (missed cycles : 2).[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926880 ms (missed cycles : 2). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926880 ms (missed cycles : 2).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292251 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292251 ms (missed cycles : 2).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730773 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730773 ms (missed cycles : 2).[0m ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695127 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695127 ms (missed cycles : 2).[0m ×2 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149406 ms (missed cycles : 3). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149406 ms (missed cycles : 3).[0m ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831896 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831896 ms (missed cycles : 2).[0m ×2 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895528 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895528 ms (missed cycles : 2).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236076 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236076 ms (missed cycles : 2).[0m ×2 + 36.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.734474 ms (missed cycles : 8). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.734474 ms (missed cycles : 8).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064949 ms (missed cycles : 2). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064949 ms (missed cycles : 2).[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699654 ms (missed cycles : 2). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699654 ms (missed cycles : 2).[0m ×2 + 40.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828802 ms (missed cycles : 2). + 40.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828802 ms (missed cycles : 2).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241146 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241146 ms (missed cycles : 2).[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907328 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907328 ms (missed cycles : 2).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.224619 ms (missed cycles : 9). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.224619 ms (missed cycles : 9).[0m ×2 + 43.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617441 ms (missed cycles : 6). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617441 ms (missed cycles : 6).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467296 ms (missed cycles : 3). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467296 ms (missed cycles : 3).[0m ×2 + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999172 ms (missed cycles : 3). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999172 ms (missed cycles : 3).[0m ×2 + 46.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090120.28849506 seconds ×3 + 46.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.70sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024344 ms (missed cycles : 3). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024344 ms (missed cycles : 3).[0m ×2 + 47.22sINFOobjective_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: ""
+ 47.22sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789090120.93925381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.37sINFOobjective_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 + 47.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 47.47sINFOros2_control_node[2026-09-11 01:28:41.092] [info] Received new action goal ×2 + 47.47sINFOros2_control_node[2026-09-11 01:28:41.093] [info] Accepted new action goal ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400725 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400725 ms (missed cycles : 2).[0m ×2 + 49.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237320 ms (missed cycles : 2). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237320 ms (missed cycles : 2).[0m ×2 + 50.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2). + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.2s | 154 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168238 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168238 ms (missed cycles : 2).[0m ×2 + 7.07sINFOros2_control_node[2026-09-11 01:27:04.686] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-09-11 01:27:04.686] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396508 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396508 ms (missed cycles : 4).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613815 ms (missed cycles : 4). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613815 ms (missed cycles : 4).[0m ×2 + 10.10sWARNros2_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 + 10.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.33sINFOros2_control_node[2026-09-11 01:27:07.951] [info] Received new action goal ×2 + 10.33sINFOros2_control_node[2026-09-11 01:27:07.951] [info] Accepted new action goal ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858561 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858561 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821203 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.821203 ms (missed cycles : 5).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419903 ms (missed cycles : 4). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419903 ms (missed cycles : 4).[0m ×2 + 13.31sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 13.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sINFOros2_control_node[2026-09-11 01:27:10.984] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-11 01:27:10.985] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226164 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226164 ms (missed cycles : 2).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054723 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054723 ms (missed cycles : 2).[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.243424 ms (missed cycles : 6). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.243424 ms (missed cycles : 6).[0m ×2 + 16.32sINFOobjective_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 + 16.32sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.32sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.32sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.32sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662656 ms (missed cycles : 5). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662656 ms (missed cycles : 5).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268218 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268218 ms (missed cycles : 2).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114477 ms (missed cycles : 3). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114477 ms (missed cycles : 3).[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757886 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757886 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654722 ms (missed cycles : 2). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654722 ms (missed cycles : 2).[0m ×2 + 22.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013327 ms (missed cycles : 3). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013327 ms (missed cycles : 3).[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239054 ms (missed cycles : 2). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239054 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 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860275 ms (missed cycles : 5). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860275 ms (missed cycles : 5).[0m ×2 + 24.84sINFOros2_control_node[2026-09-11 01:27:22.455] [info] Received new action goal ×2 + 24.84sINFOros2_control_node[2026-09-11 01:27:22.455] [info] Accepted new action goal ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828157 ms (missed cycles : 2). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828157 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_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 + 26.03sINFOobjective_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 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 26.37sINFOros2_control_node[2026-09-11 01:27:23.989] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-11 01:27:23.989] [info] Accepted new action goal ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024981 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024981 ms (missed cycles : 2).[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584383 ms (missed cycles : 6). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.584383 ms (missed cycles : 6).[0m ×2 + 28.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 28.66sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.67sINFOros2_control_node[2026-09-11 01:27:26.286] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-09-11 01:27:26.286] [info] Accepted new action goal ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723093 ms (missed cycles : 3). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723093 ms (missed cycles : 3).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584023 ms (missed cycles : 3). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584023 ms (missed cycles : 3).[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221396 ms (missed cycles : 2). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221396 ms (missed cycles : 2).[0m ×2 + 31.86sINFOros2_control_node[2026-09-11 01:27:29.475] [info] Received new action goal ×2 + 31.86sINFOros2_control_node[2026-09-11 01:27:29.475] [info] Accepted new action goal ×2 + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443304 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443304 ms (missed cycles : 2).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031826 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031826 ms (missed cycles : 2).[0m ×2 + 34.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 34.46sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 34.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.51sINFOros2_control_node[2026-09-11 01:27:32.128] [info] Received new action goal ×2 + 34.51sINFOros2_control_node[2026-09-11 01:27:32.128] [info] Accepted new action goal ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905237 ms (missed cycles : 3). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905237 ms (missed cycles : 3).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971940 ms (missed cycles : 5). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971940 ms (missed cycles : 5).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255958 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255958 ms (missed cycles : 3).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399118 ms (missed cycles : 6). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399118 ms (missed cycles : 6).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912784 ms (missed cycles : 3). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912784 ms (missed cycles : 3).[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807029 ms (missed cycles : 5). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807029 ms (missed cycles : 5).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298336 ms (missed cycles : 4). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298336 ms (missed cycles : 4).[0m ×2 + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650448 ms (missed cycles : 3). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650448 ms (missed cycles : 3).[0m ×2 + 42.70sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.328799 ms (missed cycles : 6). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.328799 ms (missed cycles : 6).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591646 ms (missed cycles : 2). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591646 ms (missed cycles : 2).[0m ×2 + 45.18sINFOros2_control_node[2026-09-11 01:27:42.796] [info] Received new action goal ×2 + 45.18sINFOros2_control_node[2026-09-11 01:27:42.796] [info] Accepted new action goal ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465252 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465252 ms (missed cycles : 2).[0m ×2 + 46.27sWARNros2_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 + 46.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789090063.95333052 seconds ×3 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895330 ms (missed cycles : 6). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895330 ms (missed cycles : 6).[0m ×2 + 46.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.93sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.12sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789090064.73559022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769753 ms (missed cycles : 5). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769753 ms (missed cycles : 5).[0m ×2 + 48.34sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 48.36sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.38sINFOros2_control_node[2026-09-11 01:27:45.998] [info] Received new action goal ×2 + 48.38sINFOros2_control_node[2026-09-11 01:27:45.998] [info] Accepted new action goal ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061898 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061898 ms (missed cycles : 2).[0m ×2 + 50.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134443 ms (missed cycles : 2). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134443 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 | 89 warnings · 13632 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2239 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2239 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4478 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4478 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617441 ms (missed cycles : 6). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.617441 ms (missed cycles : 6).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467296 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467296 ms (missed cycles : 3).[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999172 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999172 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090120.28849506 seconds ×3 + 3.19sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.19sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.22sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024344 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024344 ms (missed cycles : 3).[0m ×2 + 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: 1789090120.93925381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-09-11 01:28:41.092] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-11 01:28:41.093] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400725 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400725 ms (missed cycles : 2).[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 + 5.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237320 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237320 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682075 ms (missed cycles : 5). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682075 ms (missed cycles : 5).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765731 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765731 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041634 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041634 ms (missed cycles : 5).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878722 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878722 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385601 ms (missed cycles : 6). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385601 ms (missed cycles : 6).[0m ×2 + 12.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331465 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331465 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698876 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698876 ms (missed cycles : 2).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695709 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695709 ms (missed cycles : 2).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969111 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969111 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691657 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691657 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991402 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991402 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037927 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037927 ms (missed cycles : 2).[0m ×2 + 19.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313779 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313779 ms (missed cycles : 2).[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671867 ms (missed cycles : 5). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671867 ms (missed cycles : 5).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 seconds ×3 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 25.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.29sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 26.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.30sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 26.30sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 26.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3).[0m ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 0.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×4 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00337693 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Accepted new action goal ×2 + 0.99sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.27sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.29sERRORobjective_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: 1789090004.25355840 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 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 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789090005.05265093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.26sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Accepted new action goal ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201728 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201728 ms (missed cycles : 5).[0m ×2 + 6.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326571 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326571 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675201 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675201 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384520 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384520 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580010 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580010 ms (missed cycles : 4).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2).[0m ×2 + 12.97sWARNros2_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 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789090016.29781294 seconds ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4).[0m ×2 + 14.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789090016.96018171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789090017.02077603 seconds ×3 + 15.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 15.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.77sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 15.77sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 17.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 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 9.328799 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.328799 ms (missed cycles : 6).[0m ×2 + 1.06sINFOobjective_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 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.06sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.06sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.06sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591646 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591646 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.95sINFOros2_control_node[2026-09-11 01:27:42.796] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-09-11 01:27:42.796] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465252 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465252 ms (missed cycles : 2).[0m ×2 + 3.04sWARNros2_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 + 3.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789090063.95333052 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895330 ms (missed cycles : 6). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895330 ms (missed cycles : 6).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789090064.73559022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769753 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769753 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.16sINFOros2_control_node[2026-09-11 01:27:45.998] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-11 01:27:45.998] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061898 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061898 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134443 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134443 ms (missed cycles : 2).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376150 ms (missed cycles : 5). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376150 ms (missed cycles : 5).[0m ×2 + 8.82sWARNros2_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 + 8.85sINFOobjective_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 + 8.86sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.86sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.86sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.86sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928161 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928161 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841906 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841906 ms (missed cycles : 2).[0m ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.34sINFOros2_control_node[2026-09-11 01:27:52.182] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-11 01:27:52.182] [info] Accepted new action goal ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270684 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270684 ms (missed cycles : 3).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2).[0m ×2 + 14.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789090075.78758788 seconds ×3 + 15.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.49sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789090076.40631247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 15.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.71sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Received new action goal ×2 + 15.71sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5).[0m ×2 + 16.97sINFOobjective_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 + 16.98sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.66sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 5.58sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.17sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971338 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971338 ms (missed cycles : 3).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013424 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013424 ms (missed cycles : 2).[0m ×2 + 8.12sWARNros2_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 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430922 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430922 ms (missed cycles : 2).[0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 9.97sINFOros2_control_node[2026-09-11 01:25:44.708] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-09-11 01:25:44.708] [info] Accepted new action goal ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351091 ms (missed cycles : 6). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351091 ms (missed cycles : 6).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864921 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864921 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812744 ms (missed cycles : 5). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812744 ms (missed cycles : 5).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-09-11 01:25:48.048] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-11 01:25:48.048] [info] Accepted new action goal ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509416 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509416 ms (missed cycles : 3).[0m ×2 + 13.99sINFOobjective_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 + 14.00sINFOros2_control_node[2026-09-11 01:25:48.733] [info] Got request to cancel active goal. ×2 + 14.00sINFOros2_control_node[2026-09-11 01:25:48.733] [info] Canceling active goal... ×2 + 14.02sERRORobjective_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: 1789089948.74977398 seconds ×3 + 14.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.13sWARNros2_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 + 14.55sINFOobjective_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: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789089949.35453510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889536 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889536 ms (missed cycles : 2).[0m ×2 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 14.84sINFOros2_control_node[2026-09-11 01:25:49.578] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-09-11 01:25:49.578] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385745 ms (missed cycles : 7). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385745 ms (missed cycles : 7).[0m ×2 + 17.10sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 17.11sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.11sINFOros2_control_node[2026-09-11 01:25:51.848] [info] Received new action goal ×2 + 17.11sINFOros2_control_node[2026-09-11 01:25:51.848] [info] Accepted new action goal ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167421 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167421 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 54 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864921 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812744 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812744 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.68sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.71sINFOros2_control_node[2026-09-11 01:25:48.048] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-09-11 01:25:48.048] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509416 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509416 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.39sINFOros2_control_node[2026-09-11 01:25:48.733] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-11 01:25:48.733] [info] Canceling active goal... ×2 + 2.41sERRORobjective_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: 1789089948.74977398 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sWARNros2_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 + 2.94sINFOobjective_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: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789089949.35453510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889536 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889536 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.24sINFOros2_control_node[2026-09-11 01:25:49.578] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-11 01:25:49.578] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385745 ms (missed cycles : 7). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.385745 ms (missed cycles : 7).[0m ×2 + 5.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.51sINFOros2_control_node[2026-09-11 01:25:51.848] [info] Received new action goal ×2 + 5.51sINFOros2_control_node[2026-09-11 01:25:51.848] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167421 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167421 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773061 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773061 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189561 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189561 ms (missed cycles : 2).[0m ×2 + 8.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507433 ms (missed cycles : 4). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507433 ms (missed cycles : 4).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893991 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893991 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 13.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 13.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 13.51sERRORobjective_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: 1789089959.84958529 seconds ×3 + 14.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.11sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.08sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 15.29sWARNros2_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 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 61 errors · 37 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1789090197.73796082 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.21sINFOobjective_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 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090201.76542830 seconds ×3 + 4.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4).[0m ×2 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023532 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023532 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.423604 ms (missed cycles : 9). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.423604 ms (missed cycles : 9).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.444190 ms (missed cycles : 9). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.444190 ms (missed cycles : 9).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683675 ms (missed cycles : 5). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683675 ms (missed cycles : 5).[0m ×2 + 10.20sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.21sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORweb_video_auth_proxy-23process has died [pid 7460, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.22sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.22sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORweb_bridge_auth_proxy-22process has died [pid 7456, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.22sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.22sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.23sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.23sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.24sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.24sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.24sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.25sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.25sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.26sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.26sINFOvideo_server-21process has finished cleanly [pid 7455] ×2 + 10.26sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.27sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.28sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.28sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.28sINFOcontroller_managerShutdown request received.... + 10.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.28sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.28sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.28sINFOvideo_server2026/09/11 01:30:07 INF shutting down gracefully ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.28sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.28sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.28sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.28sINFOcontroller_managerShutting down the controller manager. + 10.28sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.28sINFOvideo_server2026/09/11 01:30:07 INF [WebRTC] closing ×2 + 10.28sINFOvideo_server2026/09/11 01:30:07 INF [RTSP] closing ×2 + 10.28sINFOvideo_server2026/09/11 01:30:07 INF waiting for running hooks ×2 + 10.28sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.28sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.28sERRORmove_groupStack trace (most recent call last) in thread 7803: ×2 + 10.28sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.29sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.29sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.29sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.29sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.29sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.29sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.29sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.29sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3113605a63, in __clone ×2 + 10.29sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3113578aa3, in ×2 + 10.29sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f311380adb3, in ×2 + 10.29sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f3113f6eb34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.29sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3113b9c620, in rclcpp::Rate::sleep() ×2 + 10.29sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3113aded18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.29sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3113aa0087, in ×2 + 10.29sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31137d9390, in __cxa_throw ×2 + 10.29sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31137c3a54, in std::terminate() ×2 + 10.29sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31137d90d9, in ×2 + 10.29sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31137c3ff4, in ×2 + 10.29sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31135048fe, in abort ×2 + 10.29sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f311352127d, in raise ×2 + 10.29sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f311357ab2c, in pthread_kill ×2 + 10.29sERRORmove_groupAborted (Signal sent by tkill() 7368 0) ×2 + 10.30sERRORmove_group-9process has died [pid 7368, 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_lekba30i --params-file /tmp/launch_params_ahjf33uy --params-file /tmp/launch_params_wlusbn24 --params-file /tmp/launch_params_c_o85sro --params-file /tmp/launch_params_zpqvr5af --params-file /tmp/launch_params_l7vz9s2f']. ×2 + 10.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.49sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.49sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.27sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7454] ×2 + 11.27sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.30sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7372] ×2 + 11.30sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7371] ×2 + 11.34sINFOui_teleop_bridge-18process has finished cleanly [pid 7377] ×2 + 11.34sINFOwaypoint_manager_node-11process has finished cleanly [pid 7370] ×2 + 11.35sINFOexecute_objective_bridge-17process has finished cleanly [pid 7376] ×2 + 11.35sINFOparameter_manager_node-10process has finished cleanly [pid 7369] ×2 + 11.35sINFOcomponent_container_mt-16process has finished cleanly [pid 7375] ×2 + 11.48sINFOobjective_server_node[0;m[2026-09-11 01:30:09.203] [moveit_pro_license] [info] ×2 + 11.48sINFOobjective_server_node************************************************* ×4 + 11.48sINFOobjective_server_node* MoveIt Pro License ×2 + 11.48sINFOobjective_server_node* Application has successfully terminated ×2 + 11.61sINFOobjective_server_node_main-14process has finished cleanly [pid 7373] ×2 + 11.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.34sINFOweb_bridge-19process has finished cleanly [pid 7378] ×2 + 12.34sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.43sINFOcomponent_container_mt-15process has finished cleanly [pid 7374] ×2 + 12.92sINFOros2_control_node-1process has finished cleanly [pid 7327] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 62 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_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 + 3.10sINFOros2_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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267310 ms (missed cycles : 5). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267310 ms (missed cycles : 5).[0m ×2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (8e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 5 iterations (0.00582824 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×4 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947410 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947410 ms (missed cycles : 2).[0m ×2 + 8.88sINFOros2_control_node[2026-09-11 01:26:28.064] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-09-11 01:26:28.064] [info] Accepted new action goal ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104444 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104444 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579474 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579474 ms (missed cycles : 3).[0m ×2 + 11.14sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.40sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.41sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.42sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789089990.62820578 seconds ×3 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592036 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592036 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430477 ms (missed cycles : 7). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430477 ms (missed cycles : 7).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227349 ms (missed cycles : 5). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227349 ms (missed cycles : 5).[0m ×2 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789089993.95902896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.98sINFOros2_control_node[2026-09-11 01:26:34.172] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-11 01:26:34.172] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755089 ms (missed cycles : 5). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755089 ms (missed cycles : 5).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884963 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884963 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902038 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902038 ms (missed cycles : 3).[0m ×2 + 17.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ 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 2.010863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010863 ms (missed cycles : 2).[0m ×2 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789090174.75230432 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.34sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.34sINFOobjective_server_nodecaller: ×8 + 3.34sINFOobjective_server_nodetype: 0 ×8 + 3.34sINFOobjective_server_nodename: "" ×8 + 3.34sINFOobjective_server_nodeinstance_id: "" ×8 + 3.34sINFOobjective_server_node ×8 + 3.40sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789090175.40985680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.53sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873230 ms (missed cycles : 5). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873230 ms (missed cycles : 5).[0m ×2 + 6.96sWARNros2_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 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2).[0m ×2 + 8.31sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498330 ms (missed cycles : 4). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498330 ms (missed cycles : 4).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082881 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082881 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 12.04sWARNros2_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 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 13.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.72sERRORobjective_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: 1789090185.73017478 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_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 + 15.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 15.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.64sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 15.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.83sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 15.83sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[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 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_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 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033261 ms (missed cycles : 4). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033261 ms (missed cycles : 4).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069847 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069847 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538440 ms (missed cycles : 4). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538440 ms (missed cycles : 4).[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3).[0m ×2 + 11.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3).[0m ×2 + 14.10sERRORobjective_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: 1789090164.23613739 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789090164.83994412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 14.99sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.02sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2).[0m ×2 + 16.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 ms (missed cycles : 4). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789089990.62820578 seconds ×3 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592036 ms (missed cycles : 3).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430477 ms (missed cycles : 7). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430477 ms (missed cycles : 7).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227349 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227349 ms (missed cycles : 5).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789089993.95902896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-11 01:26:34.172] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-11 01:26:34.172] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755089 ms (missed cycles : 5). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755089 ms (missed cycles : 5).[0m ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884963 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884963 ms (missed cycles : 2).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902038 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902038 ms (missed cycles : 3).[0m ×2 + 6.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960605 ms (missed cycles : 6). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.960605 ms (missed cycles : 6).[0m ×2 + 7.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×4 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 5 iterations (0.00523271 s). ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.397064 ms (missed cycles : 6). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.397064 ms (missed cycles : 6).[0m ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.11sINFOros2_control_node[2026-09-11 01:26:39.437] [info] Received new action goal ×2 + 9.11sINFOros2_control_node[2026-09-11 01:26:39.437] [info] Accepted new action goal ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285575 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285575 ms (missed cycles : 2).[0m ×2 + 9.99sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057674 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057674 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3).[0m ×2 + 11.64sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×4 + 11.78sINFOobjective_server_nodeFound path in 1 iterations (0.00337693 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.03sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Received new action goal ×2 + 12.03sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Accepted new action goal ×2 + 12.46sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Received new action goal ×2 + 12.46sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Accepted new action goal ×2 + 12.63sWARNros2_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 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.93sERRORobjective_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: 1789090004.25355840 seconds ×3 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789090005.05265093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2).[0m ×2 + 14.90sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Accepted new action goal ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2).[0m ×2 + 17.40sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Received new action goal ×2 + 17.40sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×4 + 6.60sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.60sINFOros2_control_node[2026-09-11 01:26:15.588] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-11 01:26:15.588] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508652 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508652 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469502 ms (missed cycles : 5). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469502 ms (missed cycles : 5).[0m ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.95sINFOros2_control_node[2026-09-11 01:26:17.936] [info] Received new action goal ×2 + 8.95sINFOros2_control_node[2026-09-11 01:26:17.936] [info] Accepted new action goal ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905286 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905286 ms (missed cycles : 2).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 10.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 11.30sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 11.30sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.25sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 13.25sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 13.26sERRORobjective_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: 1789089982.24777412 seconds ×3 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 13.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.84sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 14.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.10sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 14.10sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 16.66sWARNros2_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 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084881 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084881 ms (missed cycles : 2).[0m ×2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.81sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012284 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012284 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00565574 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.56sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.59sINFOros2_control_node[2026-09-11 01:29:07.833] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-11 01:29:07.833] [info] Accepted new action goal ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009034 ms (missed cycles : 5). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009034 ms (missed cycles : 5).[0m ×2 + 9.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854394 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854394 ms (missed cycles : 3).[0m ×2 + 10.89sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 12.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.75sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 12.75sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 13.98sINFOobjective_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 + 13.99sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 14.00sERRORobjective_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: 1789090153.24035382 seconds ×3 + 14.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 14.69sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 14.88sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 16.51sWARNros2_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 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 16.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_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 + 1.71sERRORobjective_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: 1789090185.73017478 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.28sINFOobjective_server_nodecaller: ×14 + 2.28sINFOobjective_server_nodetype: 0 ×14 + 2.28sINFOobjective_server_nodename: "" ×14 + 2.28sINFOobjective_server_nodeinstance_id: "" ×14 + 2.28sINFOobjective_server_node ×14 + 2.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7).[0m ×2 + 7.11sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.11sINFOros2_control_node[2026-09-11 01:29:51.137] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-11 01:29:51.137] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-09-11 01:29:51.137] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436881 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436881 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144941 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144941 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035870 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035870 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3).[0m ×2 + 11.80sWARNros2_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 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 13.71sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 13.71sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 13.72sERRORobjective_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: 1789090197.73796082 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 15.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 15.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 15.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.91sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 16.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 17.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090164.23613739 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789090164.83994412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.86sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895334 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895334 ms (missed cycles : 3).[0m ×2 + 7.87sINFOros2_control_node[2026-09-11 01:29:29.167] [info] Received new action goal ×2 + 7.87sINFOros2_control_node[2026-09-11 01:29:29.167] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.374224 ms (missed cycles : 6). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.374224 ms (missed cycles : 6).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550122 ms (missed cycles : 5). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550122 ms (missed cycles : 5).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010863 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010863 ms (missed cycles : 2).[0m ×2 + 11.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3).[0m ×2 + 13.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789090174.75230432 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5).[0m ×2 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.06sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.12sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789090175.40985680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 14.24sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.25sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Received new action goal ×2 + 14.25sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2).[0m ×2 + 16.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.2s | 3 errors · 54 warnings · 271 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.92sINFOobjective_server_nodecaller: ×8 + 2.92sINFOobjective_server_nodetype: 0 ×8 + 2.92sINFOobjective_server_nodename: "" ×8 + 2.92sINFOobjective_server_nodeinstance_id: "" ×8 + 2.92sINFOobjective_server_node ×8 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844172 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844172 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 1 iterations (0.00470934 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.85sINFOros2_control_node[2026-09-11 01:26:05.381] [info] Received new action goal ×2 + 7.85sINFOros2_control_node[2026-09-11 01:26:05.381] [info] Accepted new action goal ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679945 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679945 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333584 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333584 ms (missed cycles : 2).[0m ×2 + 10.15sINFOros2_control_node[2026-09-11 01:26:07.683] [info] Received new action goal ×2 + 10.15sINFOros2_control_node[2026-09-11 01:26:07.683] [info] Accepted new action goal ×2 + 10.16sWARNros2_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 ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888755 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888755 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 11.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.93sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 13.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 14.68sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.69sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 16.09sWARNros2_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 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789090016.29781294 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_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 6.658994 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.14sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.14sINFOobjective_server_nodecaller: ×6 + 2.14sINFOobjective_server_nodetype: 0 ×6 + 2.14sINFOobjective_server_nodename: "" ×6 + 2.14sINFOobjective_server_nodeinstance_id: "" ×6 + 2.14sINFOobjective_server_node ×6 + 2.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789090016.96018171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789090017.02077603 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 6.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_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 + 6.73sINFOobjective_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 + 6.88sWARNros2_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 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.05sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 33 warnings · 688 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 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 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 + 0.00sINFOros2_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 + 0.00sINFOros2_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_managerRegistering statistics for : ur_mujoco_control + 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 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 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 + 0.09sINFOcomponent_container_mt[2026-09-11 01:25:30.377] [moveit_pro_license] [info] ×2 + 0.09sINFOcomponent_container_mt************************************************* ×4 + 0.09sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.09sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.21sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.21sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.50sINFOros2-5process has finished cleanly [pid 7342] ×2 + 0.51sINFOros2_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 + 0.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.52sWARNros2_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 + 0.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[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 + 0.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2-4process has finished cleanly [pid 7341] ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794669 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794669 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.03sINFOros2_control_node[2026-09-11 01:25:31.316] [info] Controller state will be published at 20 Hz. ×2 + 1.03sINFOros2_control_node[2026-09-11 01:25:31.317] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 1.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOros2-8process has finished cleanly [pid 7345] ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOros2-2process has finished cleanly [pid 7328] ×2 + 1.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 1.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.79sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.79sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.80sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.83sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.83sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 1.83sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.16sINFOros2-6process has finished cleanly [pid 7343] ×2 + 2.19sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 2.19sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 2.23sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.26sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 2.26sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.56sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.56sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.56sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.56sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.56sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 2.57sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 2.57sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 2.59sINFOros2-7process has finished cleanly [pid 7344] ×2 + 2.60sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.60sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.60sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.60sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.60sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.61sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.61sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.67sINFOobjective_server_nodecaller: ×14 + 2.67sINFOobjective_server_nodetype: 0 ×14 + 2.67sINFOobjective_server_nodename: "" ×14 + 2.67sINFOobjective_server_nodeinstance_id: "" ×14 + 2.67sINFOobjective_server_node ×14 + 2.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.94sINFOros2-3process has finished cleanly [pid 7329] ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 4.03sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sWARNros2_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 + 6.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 7.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.10sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3).[0m ×2 + 1.17sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789090197.73796082 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.63sINFOobjective_server_nodecaller: ×8 + 3.63sINFOobjective_server_nodetype: 0 ×8 + 3.63sINFOobjective_server_nodename: "" ×8 + 3.63sINFOobjective_server_nodeinstance_id: "" ×8 + 3.63sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 5.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.28sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090201.76542830 seconds ×3 + 7.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789090016.29781294 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789090016.96018171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789090017.02077603 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.86sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.97sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1789090185.73017478 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 6.75sWARNros2_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 | ||||
| ✓ 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 3.888755 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888755 ms (missed cycles : 3).[0m ×2 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.26sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.10sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.10sINFOobjective_server_nodecaller: ×4 + 3.10sINFOobjective_server_nodetype: 0 ×4 + 3.10sINFOobjective_server_nodename: "" ×4 + 3.10sINFOobjective_server_nodeinstance_id: "" ×4 + 3.10sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.02sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[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 1.879041 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 0.92sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 0.93sERRORobjective_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: 1789090197.73796082 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.13sINFOobjective_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 + 3.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090201.76542830 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4).[0m ×2 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7328] ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7343] ×2 + 0.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1789090185.73017478 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.28sINFOobjective_server_nodecaller: ×6 + 2.28sINFOobjective_server_nodetype: 0 ×6 + 2.28sINFOobjective_server_nodename: "" ×6 + 2.28sINFOobjective_server_nodeinstance_id: "" ×6 + 2.28sINFOobjective_server_node ×6 + 2.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 0.92sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 0.93sERRORobjective_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: 1789090197.73796082 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.13sINFOobjective_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 + 3.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789090201.76542830 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383208 ms (missed cycles : 4).[0m ×2 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296600 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833681 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619996 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488686 ms (missed cycles : 4).[0m ×2 + 2.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.32sERRORobjective_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: 1789089959.84958529 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789089960.50791717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789089960.59803176 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644232 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.70sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789089961.22834897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:01.422] [info] Accepted new action goal ×2 + 4.10sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803824 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004855 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127876 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-11 01:26:09.465] [info] Accepted new action goal ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575241 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789089970.76491642 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789089971.38757443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789089971.47769165 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857674 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789089972.09450793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-11 01:26:12.219] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597301 ms (missed cycles : 3).[0m ×2 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015580 ms (missed cycles : 3).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964387 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366134 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-11 01:26:20.286] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247976 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-11 01:26:22.234] [info] Canceling active goal... ×2 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789089982.24777412 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_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 8.221774 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.221774 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.70sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789089982.88635015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-11 01:26:23.080] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755283 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695603 ms (missed cycles : 3).[0m ×2 + 6.46sWARNros2_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 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897119 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725754 ms (missed cycles : 3).[0m ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 0.02sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×4 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00337693 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-11 01:26:42.356] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 01:26:42.788] [info] Accepted new action goal ×2 + 0.99sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485969 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710762 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.27sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.27sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.29sERRORobjective_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: 1789090004.25355840 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789090005.05265093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235302 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.26sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-11 01:26:45.226] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009332 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407362 ms (missed cycles : 2).[0m ×2 + 5.76sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-09-11 01:26:47.725] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330158 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714435 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037753 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789090016.29781294 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658994 ms (missed cycles : 4).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789090016.96018171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789090017.02077603 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.86sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.97sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789090017.61773634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-11 01:26:57.731] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835526 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899381 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789090019.74786782 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.962563 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789090021.40705729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702719 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.02sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-11 01:27:01.816] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940952 ms (missed cycles : 2).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897510 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.394492 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435873 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899832 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789090075.78758788 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOobjective_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: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.71sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.71sINFOobjective_server_nodecaller: ×2 + 2.71sINFOobjective_server_nodetype: 0 ×2 + 2.71sINFOobjective_server_nodename: "" ×2 + 2.71sINFOobjective_server_nodeinstance_id: "" ×2 + 2.71sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789090076.40631247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.93sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-09-11 01:27:56.550] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234743 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.26sINFOobjective_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 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468650 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569340 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733287 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114418 ms (missed cycles : 5).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036148 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789090142.43923402 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 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347935 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789090143.14591908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-11 01:29:03.400] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700291 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615405 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 01:29:10.135] [info] Accepted new action goal ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099566 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483650 ms (missed cycles : 6).[0m ×2 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-11 01:29:11.989] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558871 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Got request to cancel active goal. ×2 + 3.09sINFOros2_control_node[2026-09-11 01:29:13.230] [info] Canceling active goal... ×2 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090153.24035382 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979782 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789090153.93559742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (7.08e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-11 01:29:14.119] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765952 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199450 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434361 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868346 ms (missed cycles : 3).[0m ×2 + 0.44sWARNros2_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 ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992039 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295113 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789090164.23613739 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366375 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789090164.83994412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.86sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-11 01:29:25.152] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868317 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600872 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851245 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 2.010863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010863 ms (missed cycles : 2).[0m ×2 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474312 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931052 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789090174.75230432 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822392 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.40sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789090175.40985680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.53sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-11 01:29:35.544] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046565 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434603 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 6.579001 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1789090185.73017478 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 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 6.579001 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1789090185.73017478 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 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 6.579001 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1789090185.73017478 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 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 6.579001 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.579001 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 1.15sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1789090185.73017478 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.40sINFOobjective_server_nodecaller: ×6 + 3.40sINFOobjective_server_nodetype: 0 ×6 + 3.40sINFOobjective_server_nodename: "" ×6 + 3.40sINFOobjective_server_nodeinstance_id: "" ×6 + 3.40sINFOobjective_server_node ×6 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1789090185.73017478 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.28sINFOobjective_server_nodecaller: ×6 + 2.28sINFOobjective_server_nodetype: 0 ×6 + 2.28sINFOobjective_server_nodename: "" ×6 + 2.28sINFOobjective_server_nodeinstance_id: "" ×6 + 2.28sINFOobjective_server_node ×6 + 2.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1789090185.73017478 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.28sINFOobjective_server_nodecaller: ×6 + 2.28sINFOobjective_server_nodetype: 0 ×6 + 2.28sINFOobjective_server_nodename: "" ×6 + 2.28sINFOobjective_server_nodeinstance_id: "" ×6 + 2.28sINFOobjective_server_node ×6 + 2.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504777 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005130 ms (missed cycles : 4).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1789090185.73017478 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372328 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.28sINFOobjective_server_nodecaller: ×6 + 2.28sINFOobjective_server_nodetype: 0 ×6 + 2.28sINFOobjective_server_nodename: "" ×6 + 2.28sINFOobjective_server_nodeinstance_id: "" ×6 + 2.28sINFOobjective_server_node ×6 + 2.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789090186.35378885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789090186.44392157 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789090187.04894638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789090187.07107449 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163815 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789090187.71283841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-11 01:29:47.836] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093212 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282556 ms (missed cycles : 5).[0m ×2 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.399775 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3).[0m ×2 + 1.17sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789090197.73796082 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.63sINFOobjective_server_nodecaller: ×8 + 3.63sINFOobjective_server_nodetype: 0 ×8 + 3.63sINFOobjective_server_nodename: "" ×8 + 3.63sINFOobjective_server_nodeinstance_id: "" ×8 + 3.63sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 5.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.28sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385216 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094867 ms (missed cycles : 3).[0m ×2 + 1.17sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879041 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 01:29:57.733] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789090197.73796082 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422644 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.63sINFOobjective_server_nodecaller: ×8 + 3.63sINFOobjective_server_nodetype: 0 ×8 + 3.63sINFOobjective_server_nodename: "" ×8 + 3.63sINFOobjective_server_nodeinstance_id: "" ×8 + 3.63sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789090198.34518361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065414 ms (missed cycles : 7).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789090199.33531022 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2). + 5.28sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789090199.93477130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179191 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.28sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789090199.93723297 seconds ×3 + 5.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789090200.58120680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789090200.62244582 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776680 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789090201.21530962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 39 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/2026-09-11-01-25-25-961745-17f3cbbbee1b-7279 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705857 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7327] ×2 + 0.87sINFOmove_group-9process started with pid [7368] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7369] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7370] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7371] ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7372] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7373] ×2 + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOcomponent_container_mt-15process started with pid [7374] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7375] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7376] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7377] ×2 + 0.87sINFOweb_bridge-19process started with pid [7378] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7454] ×2 + 0.87sINFOvideo_server-21process started with pid [7455] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7456] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7460] ×2 + 0.87sINFOros2-2process started with pid [7328] ×2 + 0.87sINFOros2-3process started with pid [7329] ×2 + 0.87sINFOros2-4process started with pid [7341] ×2 + 0.87sINFOros2-5process started with pid [7342] ×2 + 0.87sINFOros2-6process started with pid [7343] ×2 + 0.87sINFOros2-7process started with pid [7344] ×2 + 0.87sINFOros2-8process started with pid [7345] ×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 3.705857 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOvideo_server2026/09/11 01:25:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF configuration loaded from /tmp/moveit-webrtc-zwqvyhdi/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.64sINFOmove_group[2026-09-11 01:25:27.975] [moveit_pro_license] [info] ×2 + 1.64sINFOmove_group************************************************* ×4 + 1.64sINFOmove_group* MoveIt Pro License ×2 + 1.64sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.97sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.97sINFOros2_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 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855905 ms (missed cycles : 2). + 1.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855905 ms (missed cycles : 2).[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOmove_group ×4 + 2.25sINFOmove_group[92mYou can start planning now![0m ×2 + 2.31sINFOwaypoint_manager_node[2026-09-11 01:25:28.646] [moveit_pro_license] [info] ×2 + 2.31sINFOwaypoint_manager_node************************************************* ×4 + 2.31sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.22sINFOobjective_server_node[2026-09-11 01:25:29.558] [moveit_pro_license] [info] ×2 + 3.22sINFOobjective_server_node************************************************* ×4 + 3.22sINFOobjective_server_node* MoveIt Pro License ×2 + 3.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.30sINFOlaunch_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 + 3.37sINFOobjective_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 + 3.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.50sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.95sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.95sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.95sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.95sWARNros2_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 + 3.95sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.95sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.95sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.95sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.95sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.95sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.95sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.95sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.95sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.95sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.95sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.95sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.95sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.95sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.04sINFOcomponent_container_mt[2026-09-11 01:25:30.377] [moveit_pro_license] [info] ×2 + 4.04sINFOcomponent_container_mt************************************************* ×4 + 4.04sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.04sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.10sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 4.10sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 4.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.15sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 4.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 4.45sINFOros2-5process has finished cleanly [pid 7342] ×2 + 4.47sINFOros2_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 + 4.47sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.47sWARNros2_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 + 4.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.67sWARNobjective_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 + 4.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.82sINFOros2-4process has finished cleanly [pid 7341] ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794669 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794669 ms (missed cycles : 2).[0m ×2 + 4.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 4.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 4.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.98sINFOros2_control_node[2026-09-11 01:25:31.316] [info] Controller state will be published at 20 Hz. ×2 + 4.98sINFOros2_control_node[2026-09-11 01:25:31.317] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 5.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 5.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.31sINFOros2-8process has finished cleanly [pid 7345] ×2 + 5.31sINFOforce_torque_sensor_broadcasterconfigure successful + 5.32sINFOros2_control_nodeconfigure successful[0m ×2 + 5.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.63sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.65sINFOros2-2process has finished cleanly [pid 7328] ×2 + 5.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.71sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 5.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.74sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.74sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.75sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.75sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.78sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.78sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 5.78sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.11sINFOros2-6process has finished cleanly [pid 7343] ×2 + 6.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 6.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 6.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.21sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 6.21sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 6.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 6.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 6.54sINFOros2-7process has finished cleanly [pid 7344] ×2 + 6.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.55sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.55sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.55sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.55sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.56sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.56sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.62sINFOobjective_server_nodecaller: ×10 + 6.62sINFOobjective_server_nodetype: 0 ×10 + 6.62sINFOobjective_server_nodename: "" ×10 + 6.62sINFOobjective_server_nodeinstance_id: "" ×10 + 6.62sINFOobjective_server_node ×10 + 6.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 6.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.89sINFOros2-3process has finished cleanly [pid 7329] ×2 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 7.98sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 8.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 9.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 10.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7329] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.84sINFOobjective_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: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.16sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 7.08sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.68sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 7.68sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 427 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 1.84sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNros2_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 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-11-01-25-25-961745-17f3cbbbee1b-7279 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705857 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7327] ×2 + 0.87sINFOmove_group-9process started with pid [7368] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7369] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7370] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7371] ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7372] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7373] ×2 + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOcomponent_container_mt-15process started with pid [7374] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7375] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7376] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7377] ×2 + 0.87sINFOweb_bridge-19process started with pid [7378] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7454] ×2 + 0.87sINFOvideo_server-21process started with pid [7455] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7456] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7460] ×2 + 0.87sINFOros2-2process started with pid [7328] ×2 + 0.87sINFOros2-3process started with pid [7329] ×2 + 0.87sINFOros2-4process started with pid [7341] ×2 + 0.87sINFOros2-5process started with pid [7342] ×2 + 0.87sINFOros2-6process started with pid [7343] ×2 + 0.87sINFOros2-7process started with pid [7344] ×2 + 0.87sINFOros2-8process started with pid [7345] ×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 3.705857 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOvideo_server2026/09/11 01:25:27 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF configuration loaded from /tmp/moveit-webrtc-zwqvyhdi/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/11 01:25:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.64sINFOmove_group[2026-09-11 01:25:27.975] [moveit_pro_license] [info] ×2 + 1.64sINFOmove_group************************************************* ×4 + 1.64sINFOmove_group* MoveIt Pro License ×2 + 1.64sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.95sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.95sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.95sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.95sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.97sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.97sINFOros2_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 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855905 ms (missed cycles : 2). + 1.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855905 ms (missed cycles : 2).[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOmove_group ×4 + 2.25sINFOmove_group[92mYou can start planning now![0m ×2 + 2.31sINFOwaypoint_manager_node[2026-09-11 01:25:28.646] [moveit_pro_license] [info] ×2 + 2.31sINFOwaypoint_manager_node************************************************* ×4 + 2.31sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.22sINFOobjective_server_node[2026-09-11 01:25:29.558] [moveit_pro_license] [info] ×2 + 3.22sINFOobjective_server_node************************************************* ×4 + 3.22sINFOobjective_server_node* MoveIt Pro License ×2 + 3.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.30sINFOlaunch_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 + 3.37sINFOobjective_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 + 3.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.50sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7328] ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7343] ×2 + 0.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7328] ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7343] ×2 + 0.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 496 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sINFOros2-2process has finished cleanly [pid 7328] ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-09-11 01:25:32.082] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.113] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-11 01:25:32.119] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7343] ×2 + 0.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.99sINFOobjective_server_nodecaller: ×14 + 0.99sINFOobjective_server_nodetype: 0 ×14 + 0.99sINFOobjective_server_nodename: "" ×14 + 0.99sINFOobjective_server_nodeinstance_id: "" ×14 + 0.99sINFOobjective_server_node ×14 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 427 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-09-11 01:25:32.548] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-11 01:25:32.548] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_r3t2_clu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zyu__ycg --params-file /tmp/launch_params_ehr7pw_k [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295198 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2-7process has finished cleanly [pid 7344] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.48sINFOobjective_server_nodecaller: ×14 + 0.48sINFOobjective_server_nodetype: 0 ×14 + 0.48sINFOobjective_server_nodename: "" ×14 + 0.48sINFOobjective_server_nodeinstance_id: "" ×14 + 0.48sINFOobjective_server_node ×14 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789089933.01344895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789089933.02367568 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 7329] ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 1.84sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNros2_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 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.91sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7329] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789089933.61418819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.84sINFOobjective_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: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.16sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045050 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789089934.73435163 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281807 ms (missed cycles : 4).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.29sINFOobjective_server_nodecaller: ×10 + 1.29sINFOobjective_server_nodetype: 0 ×10 + 1.29sINFOobjective_server_nodename: "" ×10 + 1.29sINFOobjective_server_nodeinstance_id: "" ×10 + 1.29sINFOobjective_server_node ×10 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789089935.34993649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789089935.41011596 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789089936.12502670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789089936.14514351 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946742 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789089936.73413754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789089936.88469529 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834385 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789089937.59699988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789089937.64712524 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789089938.26341391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.401e-05 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-11 01:25:38.390] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522976 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.881542 ms (missed cycles : 6).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701442 ms (missed cycles : 5).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (6.89e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-11 01:25:40.908] [info] Accepted new action goal ×2 | ||||