128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 160 warnings · 21732 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246447.91586256 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246448.51506162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.99sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_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 + 4.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.34sINFOobjective_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 ×6 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×4 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×3578 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×3578 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×7156 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×7156 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183806 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183806 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303581 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303581 ms (missed cycles : 5).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.066346 ms (missed cycles : 8). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.066346 ms (missed cycles : 8).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046234 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046234 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059627 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059627 ms (missed cycles : 2).[0m ×2 + 11.34sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.34sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961182 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961182 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921370 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921370 ms (missed cycles : 2).[0m ×2 + 13.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930249 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930249 ms (missed cycles : 4).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.604878 ms (missed cycles : 6). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.604878 ms (missed cycles : 6).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268400 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268400 ms (missed cycles : 2).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901708 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901708 ms (missed cycles : 2).[0m ×2 + 18.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024672 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024672 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726107 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726107 ms (missed cycles : 2).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752799 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752799 ms (missed cycles : 2).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059673 ms (missed cycles : 2). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059673 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891267 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891267 ms (missed cycles : 2).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477493 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477493 ms (missed cycles : 2).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406379 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406379 ms (missed cycles : 3).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807806 ms (missed cycles : 6). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807806 ms (missed cycles : 6).[0m ×2 + 25.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233625 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233625 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950872 ms (missed cycles : 2). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950872 ms (missed cycles : 2).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416614 ms (missed cycles : 4). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416614 ms (missed cycles : 4).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188320 ms (missed cycles : 4). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188320 ms (missed cycles : 4).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970204 ms (missed cycles : 3). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970204 ms (missed cycles : 3).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295702 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295702 ms (missed cycles : 2).[0m ×2 + 32.82sWARNros2_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 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179521 ms (missed cycles : 2). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179521 ms (missed cycles : 2).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181994 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181994 ms (missed cycles : 2).[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651311 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651311 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645871 ms (missed cycles : 6). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645871 ms (missed cycles : 6).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672914 ms (missed cycles : 2). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672914 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881393 ms (missed cycles : 2). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881393 ms (missed cycles : 2).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200863 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200863 ms (missed cycles : 2).[0m ×2 + 39.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896760 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896760 ms (missed cycles : 2).[0m ×2 + 41.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233101 ms (missed cycles : 2). + 41.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233101 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975679 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975679 ms (missed cycles : 2).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540078 ms (missed cycles : 4). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540078 ms (missed cycles : 4).[0m ×2 + 44.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787131 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787131 ms (missed cycles : 2).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320547 ms (missed cycles : 2). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320547 ms (missed cycles : 2).[0m ×2 + 46.23sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246492.44053125 seconds ×3 + 46.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971013 ms (missed cycles : 2). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971013 ms (missed cycles : 2).[0m ×2 + 47.27sINFOobjective_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: ""
+ 47.27sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246493.07875252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.41sINFOobjective_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 + 47.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.51sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 47.52sINFOros2_control_node[2026-09-12 20:54:53.238] [info] Received new action goal ×2 + 47.52sINFOros2_control_node[2026-09-12 20:54:53.238] [info] Accepted new action goal ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821648 ms (missed cycles : 4). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821648 ms (missed cycles : 4).[0m ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755515 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755515 ms (missed cycles : 2).[0m ×2 + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346973 ms (missed cycles : 2). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346973 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.4s | 156 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×6 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-12 20:53:16.704] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-12 20:53:16.704] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852066 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852066 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912327 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912327 ms (missed cycles : 4).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370887 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.370887 ms (missed cycles : 4).[0m ×2 + 10.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-09-12 20:53:20.024] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-12 20:53:20.024] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356902 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356902 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997390 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997390 ms (missed cycles : 3).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755575 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755575 ms (missed cycles : 2).[0m ×2 + 12.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.32sINFOros2_control_node[2026-09-12 20:53:23.057] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-09-12 20:53:23.057] [info] Accepted new action goal ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649126 ms (missed cycles : 5). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649126 ms (missed cycles : 5).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521397 ms (missed cycles : 4). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521397 ms (missed cycles : 4).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009652 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009652 ms (missed cycles : 4).[0m ×2 + 16.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.29sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308830 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308830 ms (missed cycles : 3).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920015 ms (missed cycles : 5). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920015 ms (missed cycles : 5).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038434 ms (missed cycles : 3). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038434 ms (missed cycles : 3).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744350 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744350 ms (missed cycles : 4).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091998 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091998 ms (missed cycles : 2).[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289017 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289017 ms (missed cycles : 3).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283985 ms (missed cycles : 4). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283985 ms (missed cycles : 4).[0m ×2 + 23.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 23.90sINFOobjective_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 + 23.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.90sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.90sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.90sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.90sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840250 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840250 ms (missed cycles : 2).[0m ×2 + 24.83sINFOros2_control_node[2026-09-12 20:53:34.567] [info] Received new action goal ×2 + 24.83sINFOros2_control_node[2026-09-12 20:53:34.567] [info] Accepted new action goal ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475516 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475516 ms (missed cycles : 3).[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 + 26.30sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 26.36sINFOros2_control_node[2026-09-12 20:53:36.091] [info] Received new action goal ×2 + 26.36sINFOros2_control_node[2026-09-12 20:53:36.091] [info] Accepted new action goal ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185758 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185758 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261862 ms (missed cycles : 3). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261862 ms (missed cycles : 3).[0m ×2 + 28.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 28.69sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.70sINFOros2_control_node[2026-09-12 20:53:38.438] [info] Received new action goal ×2 + 28.70sINFOros2_control_node[2026-09-12 20:53:38.438] [info] Accepted new action goal ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856821 ms (missed cycles : 5). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856821 ms (missed cycles : 5).[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704715 ms (missed cycles : 3). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704715 ms (missed cycles : 3).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100387 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100387 ms (missed cycles : 2).[0m ×2 + 31.88sINFOros2_control_node[2026-09-12 20:53:41.618] [info] Received new action goal ×2 + 31.88sINFOros2_control_node[2026-09-12 20:53:41.618] [info] Accepted new action goal ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397679 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397679 ms (missed cycles : 2).[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602628 ms (missed cycles : 4). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602628 ms (missed cycles : 4).[0m ×2 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359123 ms (missed cycles : 3). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359123 ms (missed cycles : 3).[0m ×2 + 34.47sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 34.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.53sINFOros2_control_node[2026-09-12 20:53:44.261] [info] Received new action goal ×2 + 34.53sINFOros2_control_node[2026-09-12 20:53:44.261] [info] Accepted new action goal ×2 + 35.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805333 ms (missed cycles : 2). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805333 ms (missed cycles : 2).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152289 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152289 ms (missed cycles : 2).[0m ×2 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481870 ms (missed cycles : 2). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481870 ms (missed cycles : 2).[0m ×2 + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002937 ms (missed cycles : 5). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002937 ms (missed cycles : 5).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180930 ms (missed cycles : 5). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180930 ms (missed cycles : 5).[0m ×2 + 40.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508378 ms (missed cycles : 4). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508378 ms (missed cycles : 4).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078001 ms (missed cycles : 6). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078001 ms (missed cycles : 6).[0m ×2 + 42.20sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699236 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699236 ms (missed cycles : 2).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327538 ms (missed cycles : 3). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327538 ms (missed cycles : 3).[0m ×2 + 45.25sINFOros2_control_node[2026-09-12 20:53:54.987] [info] Received new action goal ×2 + 45.25sINFOros2_control_node[2026-09-12 20:53:54.987] [info] Accepted new action goal ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235109 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235109 ms (missed cycles : 3).[0m ×2 + 46.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789246436.14423418 seconds ×3 + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261413 ms (missed cycles : 2). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261413 ms (missed cycles : 2).[0m ×2 + 47.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.00sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.19sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789246436.92401195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805965 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805965 ms (missed cycles : 2).[0m ×2 + 48.41sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 48.42sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.43sINFOros2_control_node[2026-09-12 20:53:58.168] [info] Received new action goal ×2 + 48.43sINFOros2_control_node[2026-09-12 20:53:58.168] [info] Accepted new action goal ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670764 ms (missed cycles : 2). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670764 ms (missed cycles : 2).[0m ×2 + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983876 ms (missed cycles : 4). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983876 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 91 warnings · 14610 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2402 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2402 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4804 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4804 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787131 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787131 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320547 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320547 ms (missed cycles : 2).[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246492.44053125 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971013 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971013 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246493.07875252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (5.87e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.92sINFOros2_control_node[2026-09-12 20:54:53.238] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-12 20:54:53.238] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821648 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821648 ms (missed cycles : 4).[0m ×2 + 5.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.22sINFOobjective_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 + 5.26sINFOobjective_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 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755515 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755515 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346973 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346973 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219980 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219980 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176990 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176990 ms (missed cycles : 2).[0m ×2 + 9.24sWARNros2_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 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396609 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396609 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967490 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967490 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540822 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540822 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955090 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955090 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099718 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099718 ms (missed cycles : 2).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575267 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575267 ms (missed cycles : 2).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875173 ms (missed cycles : 3). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875173 ms (missed cycles : 3).[0m ×2 + 16.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 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 1.742469 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742469 ms (missed cycles : 2).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862067 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862067 ms (missed cycles : 2).[0m ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846059 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846059 ms (missed cycles : 3).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731690 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731690 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744551 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744551 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796529 ms (missed cycles : 3). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796529 ms (missed cycles : 3).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 25.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 25.87sINFOobjective_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: ""
+ 25.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.14sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 26.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.15sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 26.15sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 28.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 62 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00338793 s). ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.36sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3).[0m ×2 + 2.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.99sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.99sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.01sERRORobjective_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: 1789246376.23520541 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.71sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.71sINFOobjective_server_nodecaller: ×6 + 3.71sINFOobjective_server_nodetype: 0 ×6 + 3.71sINFOobjective_server_nodename: "" ×6 + 3.71sINFOobjective_server_nodeinstance_id: "" ×6 + 3.71sINFOobjective_server_node ×6 + 3.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246377.04561377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.99sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4).[0m ×2 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Accepted new action goal ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502631 ms (missed cycles : 4). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502631 ms (missed cycles : 4).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711746 ms (missed cycles : 5). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711746 ms (missed cycles : 5).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262107 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262107 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781586 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781586 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067537 ms (missed cycles : 4). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067537 ms (missed cycles : 4).[0m ×2 + 12.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246388.27717209 seconds ×3 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2).[0m ×2 + 15.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.65sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246388.93407536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246389.00422406 seconds ×3 + 16.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246389.60075164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2).[0m ×2 + 16.51sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 16.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.52sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 18.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 18.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 59 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327538 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327538 ms (missed cycles : 3).[0m ×2 + 0.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.03sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.93sINFOros2_control_node[2026-09-12 20:53:54.987] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 20:53:54.987] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235109 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235109 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789246436.14423418 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261413 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261413 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.67sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.67sINFOobjective_server_nodecaller: ×4 + 2.67sINFOobjective_server_nodetype: 0 ×4 + 2.67sINFOobjective_server_nodename: "" ×4 + 2.67sINFOobjective_server_nodeinstance_id: "" ×4 + 2.67sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789246436.92401195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805965 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805965 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.11sINFOros2_control_node[2026-09-12 20:53:58.168] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-12 20:53:58.168] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670764 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670764 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983876 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983876 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162296 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162296 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136397 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136397 ms (missed cycles : 2).[0m ×2 + 7.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.80sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.80sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.80sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.80sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687987 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687987 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536366 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536366 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.25sINFOros2_control_node[2026-09-12 20:54:04.310] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-09-12 20:54:04.310] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787738 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787738 ms (missed cycles : 5).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5).[0m ×2 + 12.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246447.91586256 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4).[0m ×2 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.40sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246448.51506162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 14.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.65sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5).[0m ×2 + 15.91sINFOobjective_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 + 15.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2).[0m ×2 + 17.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345790 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345790 ms (missed cycles : 2).[0m ×2 + 0.13sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.39sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.39sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.40sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789246362.46496272 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910287 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910287 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394014 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394014 ms (missed cycles : 2).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609723 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609723 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789246365.73172712 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 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-12 20:52:45.935] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-12 20:52:45.935] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040413 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040413 ms (missed cycles : 4).[0m ×2 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248443 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248443 ms (missed cycles : 4).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775252 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775252 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 7.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.64sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (1.72e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (1.76e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 5 iterations (0.0047406 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847072 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847072 ms (missed cycles : 2).[0m ×2 + 8.67sINFOros2_control_node[2026-09-12 20:52:50.708] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-09-12 20:52:50.708] [info] Accepted new action goal ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181344 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.181344 ms (missed cycles : 4).[0m ×2 + 9.90sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184184 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184184 ms (missed cycles : 3).[0m ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 11.19sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 11.33sINFOobjective_server_nodeFound path in 1 iterations (0.00338793 s). ×2 + 11.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.55sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3).[0m ×2 + 11.98sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Accepted new action goal ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3).[0m ×2 + 14.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.18sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.18sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.20sERRORobjective_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: 1789246376.23520541 seconds ×3 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.01sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246377.04561377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2).[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 15.18sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4).[0m ×2 + 17.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 17.67sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Received new action goal ×2 + 17.67sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933179 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933179 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780785 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780785 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.93sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 1.94sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.95sINFOros2_control_node[2026-09-12 20:51:59.503] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-09-12 20:51:59.503] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803232 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803232 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_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 + 2.56sINFOros2_control_node[2026-09-12 20:52:00.119] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-09-12 20:52:00.120] [info] Canceling active goal... ×2 + 2.58sERRORobjective_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: 1789246320.13522816 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703622 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703622 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789246320.73899031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-12 20:52:00.943] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-12 20:52:00.943] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608037 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608037 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891711 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891711 ms (missed cycles : 2).[0m ×2 + 5.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.65sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.67sINFOros2_control_node[2026-09-12 20:52:03.223] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-09-12 20:52:03.223] [info] Accepted new action goal ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214344 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214344 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461219 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461219 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673562 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673562 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958994 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958994 ms (missed cycles : 4).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331195 ms (missed cycles : 6). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331195 ms (missed cycles : 6).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 13.66sERRORobjective_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: 1789246331.21953678 seconds ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 13.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.21sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789246547.11014795 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.62sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.62sINFOobjective_server_nodecaller: ×8 + 3.62sINFOobjective_server_nodetype: 0 ×8 + 3.62sINFOobjective_server_nodename: "" ×8 + 3.62sINFOobjective_server_nodeinstance_id: "" ×8 + 3.62sINFOobjective_server_node ×8 + 3.69sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789246547.78785658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553378 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553378 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795750 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795750 ms (missed cycles : 2).[0m ×2 + 7.85sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300917 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300917 ms (missed cycles : 3).[0m ×2 + 9.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567880 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sERRORobjective_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: 1789246558.11812162 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOobjective_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 + 15.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 15.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.91sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.96sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 16.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.09sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 16.09sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 57 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 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 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.63sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 5.70sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.14sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.185863 ms (missed cycles : 7). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.185863 ms (missed cycles : 7).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378657 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378657 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301502 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301502 ms (missed cycles : 3).[0m ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 9.93sINFOros2_control_node[2026-09-12 20:51:56.173] [info] Received new action goal ×2 + 9.93sINFOros2_control_node[2026-09-12 20:51:56.173] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233458 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233458 ms (missed cycles : 4).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933179 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933179 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780785 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780785 ms (missed cycles : 2).[0m ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.26sINFOros2_control_node[2026-09-12 20:51:59.503] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-09-12 20:51:59.503] [info] Accepted new action goal ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803232 ms (missed cycles : 4). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803232 ms (missed cycles : 4).[0m ×2 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOros2_control_node[2026-09-12 20:52:00.119] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-12 20:52:00.120] [info] Canceling active goal... ×2 + 13.89sERRORobjective_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: 1789246320.13522816 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 14.43sINFOobjective_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: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703622 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703622 ms (missed cycles : 2).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789246320.73899031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 14.70sINFOros2_control_node[2026-09-12 20:52:00.943] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-12 20:52:00.943] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608037 ms (missed cycles : 4). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608037 ms (missed cycles : 4).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891711 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891711 ms (missed cycles : 2).[0m ×2 + 16.96sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 16.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.98sINFOros2_control_node[2026-09-12 20:52:03.223] [info] Received new action goal ×2 + 16.98sINFOros2_control_node[2026-09-12 20:52:03.223] [info] Accepted new action goal ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214344 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214344 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 56 warnings · 2326 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×4 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238571 ms (missed cycles : 4). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238571 ms (missed cycles : 4).[0m ×2 + 8.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168462 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168462 ms (missed cycles : 2).[0m ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 1 iterations (0.00336044 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.12sINFOros2_control_node[2026-09-12 20:55:20.564] [info] Received new action goal ×2 + 9.12sINFOros2_control_node[2026-09-12 20:55:20.564] [info] Accepted new action goal ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756601 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756601 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120733 ms (missed cycles : 5). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.120733 ms (missed cycles : 5).[0m ×2 + 11.42sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 11.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 13.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.26sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 14.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 14.17sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 14.18sERRORobjective_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: 1789246525.63196898 seconds ×3 + 14.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.04sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 16.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 17.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.37sINFOobjective_server_nodecaller: ×6 + 2.37sINFOobjective_server_nodetype: 0 ×6 + 2.37sINFOobjective_server_nodename: "" ×6 + 2.37sINFOobjective_server_nodeinstance_id: "" ×6 + 2.37sINFOobjective_server_node ×6 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[0m ×2 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.63sINFOros2_control_node[2026-09-12 20:52:27.252] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-09-12 20:52:27.252] [info] Accepted new action goal ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039706 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039706 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608946 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608946 ms (missed cycles : 4).[0m ×2 + 8.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.97sINFOros2_control_node[2026-09-12 20:52:29.590] [info] Received new action goal ×2 + 8.97sINFOros2_control_node[2026-09-12 20:52:29.590] [info] Accepted new action goal ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.433741 ms (missed cycles : 6). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.433741 ms (missed cycles : 6).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336626 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336626 ms (missed cycles : 3).[0m ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.32sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 11.32sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.50sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 13.50sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 13.50sERRORobjective_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: 1789246354.12145901 seconds ×3 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 14.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.39sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 14.39sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 14.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343815 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343815 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.39sINFOobjective_server_nodeFound path in 5 iterations (0.00584244 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062181 ms (missed cycles : 4). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062181 ms (missed cycles : 4).[0m ×2 + 8.07sINFOros2_control_node[2026-09-12 20:52:39.909] [info] Received new action goal ×2 + 8.07sINFOros2_control_node[2026-09-12 20:52:39.909] [info] Accepted new action goal ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550198 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550198 ms (missed cycles : 3).[0m ×2 + 9.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345790 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345790 ms (missed cycles : 2).[0m ×2 + 10.32sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.59sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789246362.46496272 seconds ×3 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910287 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910287 ms (missed cycles : 3).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394014 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394014 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609723 ms (missed cycles : 5). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.609723 ms (missed cycles : 5).[0m ×2 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.89sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789246365.73172712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 14.10sINFOros2_control_node[2026-09-12 20:52:45.935] [info] Received new action goal ×2 + 14.10sINFOros2_control_node[2026-09-12 20:52:45.935] [info] Accepted new action goal ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040413 ms (missed cycles : 4). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040413 ms (missed cycles : 4).[0m ×2 + 15.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248443 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248443 ms (missed cycles : 4).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775252 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775252 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 54 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953773 ms (missed cycles : 6). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953773 ms (missed cycles : 6).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847667 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847667 ms (missed cycles : 3).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708074 ms (missed cycles : 5). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708074 ms (missed cycles : 5).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119081 ms (missed cycles : 5). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119081 ms (missed cycles : 5).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3).[0m ×2 + 12.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3).[0m ×2 + 13.75sERRORobjective_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: 1789246536.61887956 seconds ×3 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3).[0m ×2 + 14.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.30sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246537.22146130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.65sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 58 errors · 36 warnings · 359 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.13sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.13sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.13sINFOobjective_server_nodecaller: ×8 + 0.13sINFOobjective_server_nodetype: 0 ×8 + 0.13sINFOobjective_server_nodename: "" ×8 + 0.13sINFOobjective_server_nodeinstance_id: "" ×8 + 0.13sINFOobjective_server_node ×8 + 0.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.22sINFOobjective_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 + 2.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246574.06216073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246574.88228703 seconds ×3 + 4.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3).[0m ×2 + 5.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567762 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567762 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773794 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773794 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762414 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762414 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.568034 ms (missed cycles : 6). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.568034 ms (missed cycles : 6).[0m ×2 + 9.88sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.89sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_video_auth_proxy-23process has died [pid 7332, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.89sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.90sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORweb_bridge_auth_proxy-22process has died [pid 7329, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.90sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.90sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.91sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.91sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.91sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.92sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.92sINFOvideo_server-21process has finished cleanly [pid 7328] ×2 + 9.92sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.93sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.93sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.93sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.94sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.94sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.94sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.95sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.96sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.96sINFOcontroller_managerShutdown request received.... + 9.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.96sINFOvideo_server2026/09/12 20:56:20 INF shutting down gracefully ×2 + 9.96sINFOvideo_server2026/09/12 20:56:20 INF [WebRTC] closing ×2 + 9.96sINFOvideo_server2026/09/12 20:56:20 INF [RTSP] closing ×2 + 9.96sINFOvideo_server2026/09/12 20:56:20 INF waiting for running hooks ×2 + 9.96sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.96sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.96sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.96sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.96sINFOcontroller_managerShutting down the controller manager. + 9.96sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.96sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.96sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.96sERRORmove_groupStack trace (most recent call last) in thread 7681: ×2 + 9.96sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.96sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.96sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.96sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.96sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.96sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.96sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.96sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.96sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.96sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.96sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.96sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.96sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.96sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f255cb92a63, in __clone ×2 + 9.97sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f255cb05aa3, in ×2 + 9.97sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f255cd97db3, in ×2 + 9.97sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f255d4fbb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.97sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f255d129620, in rclcpp::Rate::sleep() ×2 + 9.97sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f255d06bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.97sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f255d02d087, in ×2 + 9.97sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f255cd66390, in __cxa_throw ×2 + 9.97sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f255cd50a54, in std::terminate() ×2 + 9.97sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f255cd660d9, in ×2 + 9.97sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f255cd50ff4, in ×2 + 9.97sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f255ca918fe, in abort ×2 + 9.97sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f255caae27d, in raise ×2 + 9.97sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f255cb07b2c, in pthread_kill ×2 + 9.97sERRORmove_groupAborted (Signal sent by tkill() 7226 0) ×2 + 9.98sERRORmove_group-9process has died [pid 7226, 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_vo2pfd5w --params-file /tmp/launch_params_n34bumqf --params-file /tmp/launch_params_95hjo4jj --params-file /tmp/launch_params_x25dgt2k --params-file /tmp/launch_params_uo9ad52j --params-file /tmp/launch_params_7by5ezn9']. ×2 + 10.17sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.17sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.17sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.96sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7327] ×2 + 10.96sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.98sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7243] ×2 + 10.98sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7242] ×2 + 11.01sINFOexecute_objective_bridge-17process has finished cleanly [pid 7247] ×2 + 11.02sINFOui_teleop_bridge-18process has finished cleanly [pid 7248] ×2 + 11.02sINFOwaypoint_manager_node-11process has finished cleanly [pid 7241] ×2 + 11.02sINFOparameter_manager_node-10process has finished cleanly [pid 7240] ×2 + 11.07sINFOcomponent_container_mt-16process has finished cleanly [pid 7246] ×2 + 11.11sINFOobjective_server_node[0;m[2026-09-12 20:56:21.655] [moveit_pro_license] [info] ×2 + 11.11sINFOobjective_server_node************************************************* ×4 + 11.11sINFOobjective_server_node* MoveIt Pro License ×2 + 11.11sINFOobjective_server_node* Application has successfully terminated ×2 + 11.23sINFOobjective_server_node_main-14process has finished cleanly [pid 7244] ×2 + 11.23sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.12sINFOweb_bridge-19process has finished cleanly [pid 7249] ×2 + 12.12sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.12sINFOcomponent_container_mt-15process has finished cleanly [pid 7245] ×2 + 12.59sINFOros2_control_node-1process has finished cleanly [pid 7202] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_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 + 0.95sERRORobjective_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: 1789246558.11812162 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.51sINFOobjective_server_nodecaller: ×12 + 1.51sINFOobjective_server_nodetype: 0 ×12 + 1.51sINFOobjective_server_nodename: "" ×12 + 1.51sINFOobjective_server_nodeinstance_id: "" ×12 + 1.51sINFOobjective_server_node ×12 + 1.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 + 6.32sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.32sINFOros2_control_node[2026-09-12 20:56:03.491] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-09-12 20:56:03.491] [info] Accepted new action goal ×2 + 6.32sINFOros2_control_node[2026-09-12 20:56:03.491] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717835 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717835 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125366 ms (missed cycles : 5). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125366 ms (missed cycles : 5).[0m ×2 + 8.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798751 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798751 ms (missed cycles : 4).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801306 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801306 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 12.95sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 12.95sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 12.96sERRORobjective_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: 1789246570.13248205 seconds ×3 + 13.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 13.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 15.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.55sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.60sINFOobjective_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 + 15.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 16.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.20sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 51 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_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: 1789246536.61887956 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246537.22146130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.25sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Accepted new action goal ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510569 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510569 ms (missed cycles : 2).[0m ×2 + 7.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 7.26sINFOros2_control_node[2026-09-12 20:55:41.525] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-09-12 20:55:41.525] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085779 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085779 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564388 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564388 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4).[0m ×2 + 12.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789246547.11014795 seconds ×3 + 12.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8).[0m ×2 + 13.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789246547.78785658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.64sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 13.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.65sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Accepted new action goal ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5).[0m ×2 + 15.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.5s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.71sINFOobjective_server_nodecaller: ×8 + 2.71sINFOobjective_server_nodetype: 0 ×8 + 2.71sINFOobjective_server_nodename: "" ×8 + 2.71sINFOobjective_server_nodeinstance_id: "" ×8 + 2.71sINFOobjective_server_node ×8 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[0m ×2 + 7.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 1 iterations (0.00339463 s). ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944726 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944726 ms (missed cycles : 4).[0m ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.90sINFOros2_control_node[2026-09-12 20:52:17.013] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-09-12 20:52:17.013] [info] Accepted new action goal ×2 + 8.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119110 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119110 ms (missed cycles : 3).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114493 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114493 ms (missed cycles : 4).[0m ×2 + 10.20sINFOros2_control_node[2026-09-12 20:52:19.316] [info] Received new action goal ×2 + 10.20sINFOros2_control_node[2026-09-12 20:52:19.316] [info] Accepted new action goal ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145795 ms (missed cycles : 7). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145795 ms (missed cycles : 7).[0m ×2 + 12.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 12.04sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 12.04sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 13.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 14.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.79sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246388.27717209 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.35sINFOobjective_server_nodecaller: ×6 + 2.35sINFOobjective_server_nodetype: 0 ×6 + 2.35sINFOobjective_server_nodename: "" ×6 + 2.35sINFOobjective_server_nodeinstance_id: "" ×6 + 2.35sINFOobjective_server_node ×6 + 2.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246388.93407536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246389.00422406 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246389.60075164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.22sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.80sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.95sINFOobjective_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 + 6.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.27sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 9.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246570.13248205 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.82sINFOobjective_server_nodecaller: ×8 + 2.82sINFOobjective_server_nodetype: 0 ×8 + 2.82sINFOobjective_server_nodename: "" ×8 + 2.82sINFOobjective_server_nodeinstance_id: "" ×8 + 2.82sINFOobjective_server_node ×8 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246574.06216073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5).[0m ×2 + 7.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246574.88228703 seconds ×3 + 7.06sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOcomponent_container_mt[2026-09-12 20:51:41.869] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.03sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.04sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.04sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.05sWARNros2_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 + 0.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.05sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.05sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.05sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.05sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.05sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.05sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.05sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.05sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.05sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.05sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.05sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.05sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.05sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.05sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.05sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.05sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.05sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.05sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.17sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.21sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.21sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.51sINFOros2-4process has finished cleanly [pid 7205] ×2 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.66sINFOros2_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 + 0.66sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.66sWARNros2_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 + 0.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.69sINFOros2_control_node[2026-09-12 20:51:42.560] [info] Controller state will be published at 10 Hz. ×2 + 0.69sINFOros2_control_node[2026-09-12 20:51:42.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633215 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633215 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOros2-7process has finished cleanly [pid 7208] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7204] ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.42sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.43sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.43sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.43sINFOros2_control_node[2026-09-12 20:51:43.297] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.43sINFOros2_control_node[2026-09-12 20:51:43.297] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.79sINFOros2-6process has finished cleanly [pid 7207] ×2 + 1.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.91sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 1.91sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.23sINFOros2-8process has finished cleanly [pid 7209] ×2 + 2.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 2.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 2.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.30sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.30sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.30sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.31sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.31sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.60sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 2.60sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.60sINFOobjective_server_nodecaller: ×14 + 2.60sINFOobjective_server_nodetype: 0 ×14 + 2.60sINFOobjective_server_nodename: "" ×14 + 2.60sINFOobjective_server_nodeinstance_id: "" ×14 + 2.60sINFOobjective_server_node ×14 + 2.61sINFOros2-5process has finished cleanly [pid 7206] ×2 + 2.63sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.63sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.63sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.63sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.64sINFOforce_torque_sensor_broadcasterconfigure successful + 2.64sINFOros2_control_nodeconfigure successful[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.64sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.64sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.64sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 2.97sINFOros2-2process has finished cleanly [pid 7203] ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 4.09sWARNros2_control_nodeCamera render tick took 1.75 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 + 4.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 7.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.01sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 8.01sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 28 warnings · 163 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246388.27717209 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246388.93407536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246389.00422406 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246389.60075164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[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 10.145795 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145795 ms (missed cycles : 7).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 1.08sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 0.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.17sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 0.17sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 0.19sERRORobjective_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: 1789246570.13248205 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.73sINFOobjective_server_nodecaller: ×8 + 0.73sINFOobjective_server_nodetype: 0 ×8 + 0.73sINFOobjective_server_nodename: "" ×8 + 0.73sINFOobjective_server_nodeinstance_id: "" ×8 + 0.73sINFOobjective_server_node ×8 + 0.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.82sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246574.06216073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246574.88228703 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3).[0m ×2 + 6.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567762 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567762 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sERRORobjective_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: 1789246558.11812162 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 514 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2-6process has finished cleanly [pid 7207] ×2 + 0.37sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.14sINFOobjective_server_nodecaller: ×14 + 1.14sINFOobjective_server_nodetype: 0 ×14 + 1.14sINFOobjective_server_nodename: "" ×14 + 1.14sINFOobjective_server_nodeinstance_id: "" ×14 + 1.14sINFOobjective_server_node ×14 + 1.15sINFOros2-5process has finished cleanly [pid 7206] ×2 + 1.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOforce_torque_sensor_broadcasterconfigure successful + 1.18sINFOros2_control_nodeconfigure successful[0m ×2 + 1.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1789246558.11812162 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.55sINFOobjective_server_nodecaller: ×6 + 2.55sINFOobjective_server_nodetype: 0 ×6 + 2.55sINFOobjective_server_nodename: "" ×6 + 2.55sINFOobjective_server_nodeinstance_id: "" ×6 + 2.55sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_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 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 1.21sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 1.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246570.13248205 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.77sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.77sINFOobjective_server_nodecaller: ×8 + 1.77sINFOobjective_server_nodetype: 0 ×8 + 1.77sINFOobjective_server_nodename: "" ×8 + 1.77sINFOobjective_server_nodeinstance_id: "" ×8 + 1.77sINFOobjective_server_node ×8 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.86sINFOobjective_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 + 3.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789246574.06216073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550949 ms (missed cycles : 5).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789246574.88228703 seconds ×3 + 6.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160582 ms (missed cycles : 3).[0m ×2 + 7.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 22 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060518 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071621 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_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: 1789246331.21953678 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295272 ms (missed cycles : 2).[0m ×2 + 2.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246331.88499665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246331.97514915 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576515 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246332.57472897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:52:12.769] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680628 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898230 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614617 ms (missed cycles : 3).[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 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.37sINFOobjective_server_nodecaller: ×4 + 2.37sINFOobjective_server_nodetype: 0 ×4 + 2.37sINFOobjective_server_nodename: "" ×4 + 2.37sINFOobjective_server_nodeinstance_id: "" ×4 + 2.37sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[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 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.37sINFOobjective_server_nodecaller: ×4 + 2.37sINFOobjective_server_nodetype: 0 ×4 + 2.37sINFOobjective_server_nodename: "" ×4 + 2.37sINFOobjective_server_nodeinstance_id: "" ×4 + 2.37sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.37sINFOobjective_server_nodecaller: ×4 + 2.37sINFOobjective_server_nodetype: 0 ×4 + 2.37sINFOobjective_server_nodename: "" ×4 + 2.37sINFOobjective_server_nodeinstance_id: "" ×4 + 2.37sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[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 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.37sINFOobjective_server_nodecaller: ×4 + 2.37sINFOobjective_server_nodetype: 0 ×4 + 2.37sINFOobjective_server_nodename: "" ×4 + 2.37sINFOobjective_server_nodeinstance_id: "" ×4 + 2.37sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[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 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894243 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-12 20:52:21.158] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604842 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246342.45489192 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.37sINFOobjective_server_nodecaller: ×4 + 2.37sINFOobjective_server_nodetype: 0 ×4 + 2.37sINFOobjective_server_nodename: "" ×4 + 2.37sINFOobjective_server_nodeinstance_id: "" ×4 + 2.37sINFOobjective_server_node ×4 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246343.07245350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246343.15256763 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930817 ms (missed cycles : 2).[0m ×2 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246343.77856088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-12 20:52:23.903] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288559 ms (missed cycles : 4).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255957 ms (missed cycles : 3).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798778 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-12 20:52:31.940] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481683 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929163 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-12 20:52:34.118] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1789246354.12145901 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.124183 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246354.75287676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-12 20:52:35.006] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195938 ms (missed cycles : 3).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020105 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860333 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00338793 s). ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.36sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-09-12 20:52:53.587] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801482 ms (missed cycles : 3).[0m ×2 + 0.79sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-09-12 20:52:54.019] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172503 ms (missed cycles : 3).[0m ×2 + 2.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058931 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.99sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.99sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.01sERRORobjective_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: 1789246376.23520541 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246377.04561377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452433 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.99sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-12 20:52:57.219] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223552 ms (missed cycles : 4).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527063 ms (missed cycles : 4).[0m ×2 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.48sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-12 20:52:59.704] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957116 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996065 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188697 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246388.27717209 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873587 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246388.93407536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246389.00422406 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246389.60075164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139513 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-12 20:53:09.754] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885354 ms (missed cycles : 5).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749931 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246391.76086903 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611284 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246393.39997864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657923 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.807] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-12 20:53:13.808] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003904 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947769 ms (missed cycles : 4).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137564 ms (missed cycles : 5).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951245 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246447.91586256 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125680 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_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: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.74sINFOobjective_server_nodecaller: ×2 + 2.74sINFOobjective_server_nodetype: 0 ×2 + 2.74sINFOobjective_server_nodename: "" ×2 + 2.74sINFOobjective_server_nodeinstance_id: "" ×2 + 2.74sINFOobjective_server_node ×2 + 2.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246448.51506162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-12 20:54:08.708] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168903 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_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 + 4.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.34sINFOobjective_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 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808145 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129521 ms (missed cycles : 2).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 22 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 22 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 22 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 22 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×354 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×354 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×708 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×708 + 0.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170422 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665946 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934903 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246514.57649159 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_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: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246515.27742767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-12 20:55:15.471] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517510 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530580 ms (missed cycles : 3).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898407 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 20:55:22.866] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888577 ms (missed cycles : 3).[0m ×2 + 0.45sWARNros2_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 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748334 ms (missed cycles : 5).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-12 20:55:24.711] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410642 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-12 20:55:25.617] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789246525.63196898 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246526.30829501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-12 20:55:26.492] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147730 ms (missed cycles : 2).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804136 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492175 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323795 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545628 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_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: 1789246536.61887956 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986713 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.96sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246537.22146130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.25sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-12 20:55:37.510] [info] Accepted new action goal ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158022 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228951 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252934 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637146 ms (missed cycles : 3).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017516 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455157 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789246547.11014795 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.111763 ms (missed cycles : 8).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789246547.78785658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.82sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-12 20:55:47.911] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986825 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066984 ms (missed cycles : 5).[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 5.906525 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sERRORobjective_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: 1789246558.11812162 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[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 5.906525 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sERRORobjective_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: 1789246558.11812162 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[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 5.906525 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sERRORobjective_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: 1789246558.11812162 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[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 5.906525 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906525 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401152 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sERRORobjective_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: 1789246558.11812162 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sERRORobjective_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: 1789246558.11812162 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.51sINFOobjective_server_nodecaller: ×6 + 1.51sINFOobjective_server_nodetype: 0 ×6 + 1.51sINFOobjective_server_nodename: "" ×6 + 1.51sINFOobjective_server_nodeinstance_id: "" ×6 + 1.51sINFOobjective_server_node ×6 + 1.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sERRORobjective_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: 1789246558.11812162 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.51sINFOobjective_server_nodecaller: ×6 + 1.51sINFOobjective_server_nodetype: 0 ×6 + 1.51sINFOobjective_server_nodename: "" ×6 + 1.51sINFOobjective_server_nodeinstance_id: "" ×6 + 1.51sINFOobjective_server_node ×6 + 1.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374907 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sERRORobjective_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: 1789246558.11812162 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880208 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.51sINFOobjective_server_nodecaller: ×6 + 1.51sINFOobjective_server_nodetype: 0 ×6 + 1.51sINFOobjective_server_nodename: "" ×6 + 1.51sINFOobjective_server_nodeinstance_id: "" ×6 + 1.51sINFOobjective_server_node ×6 + 1.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789246558.73296309 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789246558.80311179 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162345 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789246559.41727304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789246559.43932819 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789246560.05795288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-12 20:56:00.181] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.585270 ms (missed cycles : 6).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258437 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908657 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246570.13248205 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585884 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165332 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668318 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-09-12 20:56:10.118] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246570.13248205 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789246570.73803043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217864 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789246572.16814995 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897416 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789246572.76891875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.91sINFOobjective_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 + 4.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789246572.77136278 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029465 ms (missed cycles : 8).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789246573.42498803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789246573.46607113 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [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 | 6.9s | 39 warnings · 751 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/2026-09-12-20-51-37-665421-bd50ce754444-7154 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.63sINFOcontroller_managerupdate rate is 600 Hz + 0.63sINFOcontroller_managerOverruns handling is : enabled + 0.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.63sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234990 ms (missed cycles : 4). + 0.82sINFOros2_control_node-1process started with pid [7202] ×2 + 0.82sINFOmove_group-9process started with pid [7226] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7240] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7241] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7242] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7243] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7244] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7245] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7246] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7247] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7248] ×2 + 0.82sINFOweb_bridge-19process started with pid [7249] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7327] ×2 + 0.83sINFOvideo_server-21process started with pid [7328] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7329] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7332] ×2 + 0.84sINFOros2-2process started with pid [7203] ×2 + 0.84sINFOros2-3process started with pid [7204] ×2 + 0.84sINFOros2-4process started with pid [7205] ×2 + 0.84sINFOros2-5process started with pid [7206] ×2 + 0.84sINFOros2-6process started with pid [7207] ×2 + 0.84sINFOros2-7process started with pid [7208] ×2 + 0.84sINFOros2-8process started with pid [7209] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234990 ms (missed cycles : 4).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF configuration loaded from /tmp/moveit-webrtc-gm5bhhp8/mediamtx.yml ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.65sINFOmove_group[2026-09-12 20:51:39.679] [moveit_pro_license] [info] ×2 + 1.65sINFOmove_group************************************************* ×4 + 1.65sINFOmove_group* MoveIt Pro License ×2 + 1.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.97sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.98sINFOros2_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 + 1.98sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.978035 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.978035 ms (missed cycles : 6).[0m ×2 + 2.04sINFOmove_group ×4 + 2.04sINFOmove_group[92mYou can start planning now![0m ×2 + 2.28sINFOwaypoint_manager_node[2026-09-12 20:51:40.308] [moveit_pro_license] [info] ×2 + 2.28sINFOwaypoint_manager_node************************************************* ×4 + 2.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.46sINFOobjective_server_node[2026-09-12 20:51:41.487] [moveit_pro_license] [info] ×2 + 3.46sINFOobjective_server_node************************************************* ×4 + 3.46sINFOobjective_server_node* MoveIt Pro License ×2 + 3.46sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.84sINFOcomponent_container_mt[2026-09-12 20:51:41.869] [moveit_pro_license] [info] ×2 + 3.84sINFOcomponent_container_mt************************************************* ×4 + 3.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.87sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.87sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.88sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.88sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.89sWARNros2_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 + 3.89sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.89sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.89sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.89sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.89sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.89sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.89sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.89sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.89sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.89sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.89sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.89sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.89sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.89sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.89sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.89sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.89sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.89sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.89sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 4.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 4.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.35sINFOros2-4process has finished cleanly [pid 7205] ×2 + 4.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 4.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 4.50sINFOros2_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 + 4.50sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.50sWARNros2_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 + 4.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.53sINFOros2_control_node[2026-09-12 20:51:42.560] [info] Controller state will be published at 10 Hz. ×2 + 4.53sINFOros2_control_node[2026-09-12 20:51:42.562] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633215 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633215 ms (missed cycles : 2).[0m ×2 + 4.75sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.75sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.75sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.75sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.76sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 4.76sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 4.76sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.79sINFOros2-7process has finished cleanly [pid 7208] ×2 + 4.79sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.79sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.79sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.79sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.80sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.80sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.13sINFOros2-3process has finished cleanly [pid 7204] ×2 + 5.14sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.14sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.14sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 5.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 5.26sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.27sINFOros2_control_node[2026-09-12 20:51:43.297] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.27sINFOros2_control_node[2026-09-12 20:51:43.297] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.30sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.30sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 5.31sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.59sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.63sINFOros2-6process has finished cleanly [pid 7207] ×2 + 5.67sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 5.67sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 5.71sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.71sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.75sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 5.75sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.07sINFOros2-8process has finished cleanly [pid 7209] ×2 + 6.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 6.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 6.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.15sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.44sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 6.44sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.44sINFOobjective_server_nodecaller: ×10 + 6.44sINFOobjective_server_nodetype: 0 ×10 + 6.44sINFOobjective_server_nodename: "" ×10 + 6.44sINFOobjective_server_nodeinstance_id: "" ×10 + 6.44sINFOobjective_server_node ×10 + 6.45sINFOros2-5process has finished cleanly [pid 7206] ×2 + 6.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.48sINFOforce_torque_sensor_broadcasterconfigure successful + 6.48sINFOros2_control_nodeconfigure successful[0m ×2 + 6.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 6.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 6.81sINFOros2-2process has finished cleanly [pid 7203] ×2 + 7.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.05sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.10sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 7.93sWARNros2_control_nodeCamera render tick took 1.75 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 + 8.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 8.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.77sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 9.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 10.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 10.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7203] ×2 + 0.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.25sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.25sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.25sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.25sINFOobjective_server_nodecaller: ×12 + 0.25sINFOobjective_server_nodetype: 0 ×12 + 0.25sINFOobjective_server_nodename: "" ×12 + 0.25sINFOobjective_server_nodeinstance_id: "" ×12 + 0.25sINFOobjective_server_node ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodeCamera render tick took 1.75 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.04sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 7.10sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.55sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 7.55sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 455 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.39sINFOobjective_server_nodecaller: ×14 + 0.39sINFOobjective_server_nodetype: 0 ×14 + 0.39sINFOobjective_server_nodename: "" ×14 + 0.39sINFOobjective_server_nodeinstance_id: "" ×14 + 0.39sINFOobjective_server_node ×14 + 0.40sINFOros2-5process has finished cleanly [pid 7206] ×2 + 0.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOforce_torque_sensor_broadcasterconfigure successful + 0.42sINFOros2_control_nodeconfigure successful[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 185 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/2026-09-12-20-51-37-665421-bd50ce754444-7154 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.63sINFOcontroller_managerupdate rate is 600 Hz + 0.63sINFOcontroller_managerOverruns handling is : enabled + 0.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.63sWARNcontroller_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. + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234990 ms (missed cycles : 4). + 0.82sINFOros2_control_node-1process started with pid [7202] ×2 + 0.82sINFOmove_group-9process started with pid [7226] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7240] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7241] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7242] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7243] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7244] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7245] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7246] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7247] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7248] ×2 + 0.82sINFOweb_bridge-19process started with pid [7249] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7327] ×2 + 0.83sINFOvideo_server-21process started with pid [7328] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7329] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7332] ×2 + 0.84sINFOros2-2process started with pid [7203] ×2 + 0.84sINFOros2-3process started with pid [7204] ×2 + 0.84sINFOros2-4process started with pid [7205] ×2 + 0.84sINFOros2-5process started with pid [7206] ×2 + 0.84sINFOros2-6process started with pid [7207] ×2 + 0.84sINFOros2-7process started with pid [7208] ×2 + 0.84sINFOros2-8process started with pid [7209] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.85sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.85sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.85sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.85sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.85sWARNros2_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 + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234990 ms (missed cycles : 4).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF configuration loaded from /tmp/moveit-webrtc-gm5bhhp8/mediamtx.yml ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.14sINFOvideo_server2026/09/12 20:51:39 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.65sINFOmove_group[2026-09-12 20:51:39.679] [moveit_pro_license] [info] ×2 + 1.65sINFOmove_group************************************************* ×4 + 1.65sINFOmove_group* MoveIt Pro License ×2 + 1.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.88sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.92sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 1.97sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.98sINFOros2_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 + 1.98sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.978035 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.978035 ms (missed cycles : 6).[0m ×2 + 2.04sINFOmove_group ×4 + 2.04sINFOmove_group[92mYou can start planning now![0m ×2 + 2.28sINFOwaypoint_manager_node[2026-09-12 20:51:40.308] [moveit_pro_license] [info] ×2 + 2.28sINFOwaypoint_manager_node************************************************* ×4 + 2.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.46sINFOobjective_server_node[2026-09-12 20:51:41.487] [moveit_pro_license] [info] ×2 + 3.46sINFOobjective_server_node************************************************* ×4 + 3.46sINFOobjective_server_node* MoveIt Pro License ×2 + 3.46sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 514 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2-6process has finished cleanly [pid 7207] ×2 + 0.37sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.14sINFOobjective_server_nodecaller: ×14 + 1.14sINFOobjective_server_nodetype: 0 ×14 + 1.14sINFOobjective_server_nodename: "" ×14 + 1.14sINFOobjective_server_nodeinstance_id: "" ×14 + 1.14sINFOobjective_server_node ×14 + 1.15sINFOros2-5process has finished cleanly [pid 7206] ×2 + 1.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOforce_torque_sensor_broadcasterconfigure successful + 1.18sINFOros2_control_nodeconfigure successful[0m ×2 + 1.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 514 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2-6process has finished cleanly [pid 7207] ×2 + 0.37sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.14sINFOobjective_server_nodecaller: ×14 + 1.14sINFOobjective_server_nodetype: 0 ×14 + 1.14sINFOobjective_server_nodename: "" ×14 + 1.14sINFOobjective_server_nodeinstance_id: "" ×14 + 1.14sINFOobjective_server_node ×14 + 1.15sINFOros2-5process has finished cleanly [pid 7206] ×2 + 1.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOforce_torque_sensor_broadcasterconfigure successful + 1.18sINFOros2_control_nodeconfigure successful[0m ×2 + 1.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 514 info |
+ 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-09-12 20:51:43.330] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-09-12 20:51:43.335] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2-6process has finished cleanly [pid 7207] ×2 + 0.37sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.37sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.41sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.775] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-12 20:51:43.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.77sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 1.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.14sINFOobjective_server_nodecaller: ×14 + 1.14sINFOobjective_server_nodetype: 0 ×14 + 1.14sINFOobjective_server_nodename: "" ×14 + 1.14sINFOobjective_server_nodeinstance_id: "" ×14 + 1.14sINFOobjective_server_node ×14 + 1.15sINFOros2-5process has finished cleanly [pid 7206] ×2 + 1.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOforce_torque_sensor_broadcasterconfigure successful + 1.18sINFOros2_control_nodeconfigure successful[0m ×2 + 1.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 455 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOros2-8process has finished cleanly [pid 7209] ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6k7ze1s_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dog6tr2h --params-file /tmp/launch_params_qtej_6tg [0m ×2 + 0.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.39sINFOobjective_server_nodecaller: ×14 + 0.39sINFOobjective_server_nodetype: 0 ×14 + 0.39sINFOobjective_server_nodename: "" ×14 + 0.39sINFOobjective_server_nodeinstance_id: "" ×14 + 0.39sINFOobjective_server_node ×14 + 0.40sINFOros2-5process has finished cleanly [pid 7206] ×2 + 0.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOforce_torque_sensor_broadcasterconfigure successful + 0.42sINFOros2_control_nodeconfigure successful[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246304.53669715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246304.54689884 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868895 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 7203] ×2 + 1.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodeCamera render tick took 1.75 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 + 2.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7203] ×2 + 0.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.25sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.25sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.25sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.25sINFOobjective_server_nodecaller: ×12 + 0.25sINFOobjective_server_nodetype: 0 ×12 + 0.25sINFOobjective_server_nodename: "" ×12 + 0.25sINFOobjective_server_nodeinstance_id: "" ×12 + 0.25sINFOobjective_server_node ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246305.13108850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodeCamera render tick took 1.75 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.04sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [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 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − 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 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [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 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [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 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [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 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786545 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.75 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 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246306.24123192 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.14sINFOobjective_server_node ×10 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709263 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246306.85370064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246306.91389108 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246307.62072492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246307.63083124 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949331 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246308.22404170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246308.37461591 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119633 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246309.08422780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246309.13913989 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246309.73941517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.1396e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:51:49.875] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928903 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206577 ms (missed cycles : 3).[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012295 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-09-12 20:51:52.385] [info] Accepted new action goal ×2 | ||||