128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
9.0s
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 | 161 warnings · 19290 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246902.63151050 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246903.23535371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.47sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.73sINFOobjective_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 + 4.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2).[0m ×2 + 6.96sINFOjoint_trajectory_controllerReceived new action goal ×3171 + 6.96sINFOjoint_trajectory_controllerAccepted new action goal ×3171 + 6.96sINFOros2_control_nodeReceived new action goal[0m ×6342 + 6.96sINFOros2_control_nodeAccepted new action goal[0m ×6342 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909482 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909482 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006112 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006112 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350691 ms (missed cycles : 5). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350691 ms (missed cycles : 5).[0m ×2 + 10.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979175 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979175 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997027 ms (missed cycles : 5). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997027 ms (missed cycles : 5).[0m ×2 + 11.82sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.82sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.82sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940901 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940901 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906888 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906888 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248953 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248953 ms (missed cycles : 4).[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131594 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131594 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288298 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288298 ms (missed cycles : 2).[0m ×2 + 17.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×4 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581691 ms (missed cycles : 3). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581691 ms (missed cycles : 3).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823501 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823501 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682825 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682825 ms (missed cycles : 2).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619026 ms (missed cycles : 3). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619026 ms (missed cycles : 3).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874460 ms (missed cycles : 2). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874460 ms (missed cycles : 2).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765949 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765949 ms (missed cycles : 2).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531146 ms (missed cycles : 6). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531146 ms (missed cycles : 6).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400468 ms (missed cycles : 3). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400468 ms (missed cycles : 3).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828306 ms (missed cycles : 4). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828306 ms (missed cycles : 4).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874688 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874688 ms (missed cycles : 2).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553310 ms (missed cycles : 3). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553310 ms (missed cycles : 3).[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007314 ms (missed cycles : 4). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007314 ms (missed cycles : 4).[0m ×2 + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934125 ms (missed cycles : 2). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934125 ms (missed cycles : 2).[0m ×2 + 31.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704482 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704482 ms (missed cycles : 2).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713170 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713170 ms (missed cycles : 2).[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661062 ms (missed cycles : 3). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661062 ms (missed cycles : 3).[0m ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900497 ms (missed cycles : 2). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900497 ms (missed cycles : 2).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879682 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879682 ms (missed cycles : 2).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914081 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914081 ms (missed cycles : 2).[0m ×2 + 37.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932576 ms (missed cycles : 2). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932576 ms (missed cycles : 2).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226206 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226206 ms (missed cycles : 2).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547105 ms (missed cycles : 2). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547105 ms (missed cycles : 2).[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913294 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913294 ms (missed cycles : 2).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001415 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001415 ms (missed cycles : 2).[0m ×2 + 42.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323929 ms (missed cycles : 2). + 42.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323929 ms (missed cycles : 2).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882568 ms (missed cycles : 3). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882568 ms (missed cycles : 3).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671845 ms (missed cycles : 5). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671845 ms (missed cycles : 5).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119921 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119921 ms (missed cycles : 3).[0m ×2 + 46.53sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031178 ms (missed cycles : 4). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031178 ms (missed cycles : 4).[0m ×2 + 47.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246947.11314702 seconds ×3 + 47.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.72sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246947.74318218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.85sINFOobjective_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 + 47.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.95sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 47.96sINFOros2_control_node[2026-09-12 21:02:27.897] [info] Received new action goal ×2 + 47.96sINFOros2_control_node[2026-09-12 21:02:27.897] [info] Accepted new action goal ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196064 ms (missed cycles : 5). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196064 ms (missed cycles : 5).[0m ×2 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543620 ms (missed cycles : 4). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543620 ms (missed cycles : 4).[0m ×2 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258474 ms (missed cycles : 2). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258474 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 154 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (4.82e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-12 21:00:51.493] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-12 21:00:51.493] [info] Accepted new action goal ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094069 ms (missed cycles : 7). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.094069 ms (missed cycles : 7).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673011 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673011 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625120 ms (missed cycles : 6). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625120 ms (missed cycles : 6).[0m ×2 + 10.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.40sINFOros2_control_node[2026-09-12 21:00:54.812] [info] Received new action goal ×2 + 10.40sINFOros2_control_node[2026-09-12 21:00:54.812] [info] Accepted new action goal ×2 + 10.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904186 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904186 ms (missed cycles : 3).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731056 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731056 ms (missed cycles : 3).[0m ×2 + 13.28sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-09-12 21:00:57.755] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-12 21:00:57.755] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374132 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374132 ms (missed cycles : 3).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976755 ms (missed cycles : 5). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976755 ms (missed cycles : 5).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494944 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494944 ms (missed cycles : 2).[0m ×2 + 15.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.31sINFOobjective_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 + 16.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204406 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204406 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125867 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125867 ms (missed cycles : 2).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909291 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909291 ms (missed cycles : 3).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458775 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458775 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050209 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050209 ms (missed cycles : 3).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113681 ms (missed cycles : 4). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113681 ms (missed cycles : 4).[0m ×2 + 22.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789080 ms (missed cycles : 3). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789080 ms (missed cycles : 3).[0m ×2 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904543 ms (missed cycles : 3). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904543 ms (missed cycles : 3).[0m ×2 + 23.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.92sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.92sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.84sINFOros2_control_node[2026-09-12 21:01:09.246] [info] Received new action goal ×2 + 24.84sINFOros2_control_node[2026-09-12 21:01:09.246] [info] Accepted new action goal ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821392 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821392 ms (missed cycles : 3).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636800 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636800 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.03sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 26.37sINFOros2_control_node[2026-09-12 21:01:10.776] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-12 21:01:10.776] [info] Accepted new action goal ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148590 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148590 ms (missed cycles : 2).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203763 ms (missed cycles : 3). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203763 ms (missed cycles : 3).[0m ×2 + 28.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 28.66sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.68sINFOros2_control_node[2026-09-12 21:01:13.087] [info] Received new action goal ×2 + 28.68sINFOros2_control_node[2026-09-12 21:01:13.087] [info] Accepted new action goal ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.871838 ms (missed cycles : 6). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.871838 ms (missed cycles : 6).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663104 ms (missed cycles : 3). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663104 ms (missed cycles : 3).[0m ×2 + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478487 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478487 ms (missed cycles : 2).[0m ×2 + 31.85sINFOros2_control_node[2026-09-12 21:01:16.258] [info] Received new action goal ×2 + 31.85sINFOros2_control_node[2026-09-12 21:01:16.258] [info] Accepted new action goal ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661012 ms (missed cycles : 4). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661012 ms (missed cycles : 4).[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582487 ms (missed cycles : 3). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582487 ms (missed cycles : 3).[0m ×2 + 34.45sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 34.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.50sINFOros2_control_node[2026-09-12 21:01:18.911] [info] Received new action goal ×2 + 34.50sINFOros2_control_node[2026-09-12 21:01:18.911] [info] Accepted new action goal ×2 + 34.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776297 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776297 ms (missed cycles : 2).[0m ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801934 ms (missed cycles : 2). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801934 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276436 ms (missed cycles : 2). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276436 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307930 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307930 ms (missed cycles : 3).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679425 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679425 ms (missed cycles : 2).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785661 ms (missed cycles : 2). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785661 ms (missed cycles : 2).[0m ×2 + 40.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743826 ms (missed cycles : 4). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743826 ms (missed cycles : 4).[0m ×2 + 42.05sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576117 ms (missed cycles : 5). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576117 ms (missed cycles : 5).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.348723 ms (missed cycles : 7). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.348723 ms (missed cycles : 7).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798692 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798692 ms (missed cycles : 2).[0m ×2 + 45.26sINFOros2_control_node[2026-09-12 21:01:29.669] [info] Received new action goal ×2 + 45.26sINFOros2_control_node[2026-09-12 21:01:29.669] [info] Accepted new action goal ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877643 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877643 ms (missed cycles : 2).[0m ×2 + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247870 ms (missed cycles : 4). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247870 ms (missed cycles : 4).[0m ×2 + 46.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789246890.82532001 seconds ×3 + 47.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.01sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.20sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789246891.60949063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272280 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272280 ms (missed cycles : 2).[0m ×2 + 47.65sWARNros2_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 + 48.42sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 48.44sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.45sINFOros2_control_node[2026-09-12 21:01:32.862] [info] Received new action goal ×2 + 48.45sINFOros2_control_node[2026-09-12 21:01:32.862] [info] Accepted new action goal ×2 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797104 ms (missed cycles : 2). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797104 ms (missed cycles : 2).[0m ×2 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168095 ms (missed cycles : 4). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168095 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 | 97 warnings · 13368 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882568 ms (missed cycles : 3).[0m ×2 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2195 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2195 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4390 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×4390 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671845 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671845 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119921 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119921 ms (missed cycles : 3).[0m ×2 + 2.52sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031178 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031178 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246947.11314702 seconds ×3 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOobjective_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: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246947.74318218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_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 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.95sINFOros2_control_node[2026-09-12 21:02:27.897] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-12 21:02:27.897] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196064 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196064 ms (missed cycles : 5).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543620 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543620 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.26sINFOobjective_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 + 5.28sINFOobjective_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 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258474 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258474 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539473 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539473 ms (missed cycles : 2).[0m ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863486 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863486 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421158 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421158 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808732 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808732 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194932 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194932 ms (missed cycles : 2).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407673 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407673 ms (missed cycles : 2).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138933 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138933 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969832 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969832 ms (missed cycles : 2).[0m ×2 + 14.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165497 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165497 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022954 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022954 ms (missed cycles : 2).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044190 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044190 ms (missed cycles : 2).[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.120574 ms (missed cycles : 5). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.120574 ms (missed cycles : 5).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510333 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510333 ms (missed cycles : 2).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896359 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896359 ms (missed cycles : 2).[0m ×2 + 21.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644993 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644993 ms (missed cycles : 3).[0m ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 25.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 25.91sINFOobjective_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: ""
+ 25.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.20sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 26.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.22sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 26.22sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 27.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 1 iterations (0.00483426 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.50sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.00sERRORobjective_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: 1789246830.92184305 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246831.70430875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.96sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971460 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971460 ms (missed cycles : 3).[0m ×2 + 7.92sWARNros2_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 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.979523 ms (missed cycles : 6). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.979523 ms (missed cycles : 6).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136799 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136799 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824314 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824314 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747327 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747327 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246843.05252194 seconds ×3 + 15.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.75sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246843.73861885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.89sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246843.81875706 seconds ×3 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3).[0m ×2 + 16.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.43sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.49sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.61sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 16.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.62sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 16.62sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 18.63sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798692 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798692 ms (missed cycles : 2).[0m ×2 + 0.11sINFOobjective_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 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.11sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.11sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-12 21:01:29.669] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-12 21:01:29.669] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877643 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877643 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247870 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247870 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789246890.82532001 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789246891.60949063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272280 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272280 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_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 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.24sINFOros2_control_node[2026-09-12 21:01:32.862] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-12 21:01:32.862] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797104 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797104 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168095 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168095 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007268 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007268 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324434 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324434 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_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 + 7.94sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.94sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.94sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.94sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767375 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767375 ms (missed cycles : 2).[0m ×2 + 9.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655487 ms (missed cycles : 5). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655487 ms (missed cycles : 5).[0m ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.41sINFOros2_control_node[2026-09-12 21:01:39.029] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-12 21:01:39.029] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2).[0m ×2 + 14.01sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246902.63151050 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4).[0m ×2 + 14.55sINFOobjective_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: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246903.23535371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.78sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5).[0m ×2 + 15.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.04sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 61 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 0.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 0.32sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 0.32sERRORobjective_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: 1789247024.87357712 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.87sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.87sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.87sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.87sINFOobjective_server_nodecaller: ×8 + 0.87sINFOobjective_server_nodetype: 0 ×8 + 0.87sINFOobjective_server_nodename: "" ×8 + 0.87sINFOobjective_server_nodeinstance_id: "" ×8 + 0.87sINFOobjective_server_node ×8 + 0.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.34sINFOobjective_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 + 2.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789247029.50123668 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.378226 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.378226 ms (missed cycles : 7).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897225 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897225 ms (missed cycles : 2).[0m ×2 + 7.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425680 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425680 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750982 ms (missed cycles : 5). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750982 ms (missed cycles : 5).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949455 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949455 ms (missed cycles : 5).[0m ×2 + 10.75sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.76sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_video_auth_proxy-23process has died [pid 7359, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.76sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.77sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-22process has died [pid 7358, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.77sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.78sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.78sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.78sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.79sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.79sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.80sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.80sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.80sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.81sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.81sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.82sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.82sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.83sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.83sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.83sINFOvideo_server-21process has finished cleanly [pid 7357] ×2 + 10.83sINFOcontroller_managerShutdown request received.... + 10.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.83sINFOvideo_server2026/09/12 21:03:55 INF shutting down gracefully ×2 + 10.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.83sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.83sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.83sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOvideo_server2026/09/12 21:03:55 INF [WebRTC] closing ×2 + 10.83sINFOvideo_server2026/09/12 21:03:55 INF [RTSP] closing ×2 + 10.83sINFOvideo_server2026/09/12 21:03:55 INF waiting for running hooks ×2 + 10.84sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.84sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.84sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.84sINFOcontroller_managerShutting down the controller manager. + 10.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.84sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.84sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.84sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.84sERRORmove_groupStack trace (most recent call last) in thread 7709: ×2 + 10.84sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.84sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.84sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.84sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060b216a63, in __clone ×2 + 10.84sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060b189aa3, in ×2 + 10.84sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f060b41bdb3, in ×2 + 10.84sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f060bb7fb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.84sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.84sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.84sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.84sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.84sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f060b7ad620, in rclcpp::Rate::sleep() ×2 + 10.84sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f060b6efd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.84sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f060b6b1087, in ×2 + 10.84sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f060b3ea390, in __cxa_throw ×2 + 10.84sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f060b3d4a54, in std::terminate() ×2 + 10.84sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f060b3ea0d9, in ×2 + 10.84sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f060b3d4ff4, in ×2 + 10.84sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060b1158fe, in abort ×2 + 10.84sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060b13227d, in raise ×2 + 10.84sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f060b18bb2c, in pthread_kill ×2 + 10.84sERRORmove_groupAborted (Signal sent by tkill() 7282 0) ×2 + 10.85sERRORmove_group-9process has died [pid 7282, 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_em0l890t --params-file /tmp/launch_params_h84fkfvl --params-file /tmp/launch_params_59cu820m --params-file /tmp/launch_params_3g29wzw8 --params-file /tmp/launch_params_ahzzl4qq --params-file /tmp/launch_params__9o1jnnh']. ×2 + 11.04sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.04sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.05sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.83sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7356] ×2 + 11.83sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.85sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7286] ×2 + 11.86sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7285] ×2 + 11.89sINFOparameter_manager_node-10process has finished cleanly [pid 7283] ×2 + 11.90sINFOwaypoint_manager_node-11process has finished cleanly [pid 7284] ×2 + 11.90sINFOui_teleop_bridge-18process has finished cleanly [pid 7291] ×2 + 11.90sINFOexecute_objective_bridge-17process has finished cleanly [pid 7290] ×2 + 11.96sINFOcomponent_container_mt-16process has finished cleanly [pid 7289] ×2 + 12.00sINFOobjective_server_node[0;m[2026-09-12 21:03:56.551] [moveit_pro_license] [info] ×2 + 12.00sINFOobjective_server_node************************************************* ×4 + 12.00sINFOobjective_server_node* MoveIt Pro License ×2 + 12.00sINFOobjective_server_node* Application has successfully terminated ×2 + 12.13sINFOobjective_server_node_main-14process has finished cleanly [pid 7287] ×2 + 12.13sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.00sINFOcomponent_container_mt-15process has finished cleanly [pid 7288] ×2 + 13.22sINFOweb_bridge-19process has finished cleanly [pid 7292] ×2 + 13.22sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.48sINFOros2_control_node-1process has finished cleanly [pid 7231] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246785.37012649 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.22sINFOobjective_server_nodecaller: ×8 + 2.22sINFOobjective_server_nodetype: 0 ×8 + 2.22sINFOobjective_server_nodename: "" ×8 + 2.22sINFOobjective_server_nodeinstance_id: "" ×8 + 2.22sINFOobjective_server_node ×8 + 2.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209957 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209957 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.41sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176686 ms (missed cycles : 5). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.176686 ms (missed cycles : 5).[0m ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 1 iterations (0.00371802 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.06sINFOros2_control_node[2026-09-12 20:59:51.825] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-12 20:59:51.825] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.122077 ms (missed cycles : 7). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.122077 ms (missed cycles : 7).[0m ×2 + 9.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398668 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398668 ms (missed cycles : 3).[0m ×2 + 10.37sINFOros2_control_node[2026-09-12 20:59:54.127] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-12 20:59:54.127] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869976 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869976 ms (missed cycles : 4).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 12.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.20sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 12.20sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.83sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.96sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 15.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2136 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036940 ms (missed cycles : 5). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036940 ms (missed cycles : 5).[0m ×2 + 8.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 1 iterations (0.00451974 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.82sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.85sINFOros2_control_node[2026-09-12 21:02:54.909] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-09-12 21:02:54.909] [info] Accepted new action goal ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068410 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068410 ms (missed cycles : 2).[0m ×2 + 10.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804206 ms (missed cycles : 3). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804206 ms (missed cycles : 3).[0m ×2 + 11.16sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 11.16sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 12.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.94sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 12.94sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 14.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 14.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 15.17sWARNros2_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 + 15.17sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 17.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×4 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446177 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446177 ms (missed cycles : 4).[0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.66sINFOros2_control_node[2026-09-12 21:00:02.089] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-09-12 21:00:02.089] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390679 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390679 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751089 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751089 ms (missed cycles : 2).[0m ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 9.00sINFOros2_control_node[2026-09-12 21:00:04.428] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-09-12 21:00:04.428] [info] Accepted new action goal ×2 + 9.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522794 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522794 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 11.35sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 13.54sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 13.55sERRORobjective_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: 1789246808.97872066 seconds ×3 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.18sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.40sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 15.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 59 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789247001.89847612 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.58sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789247002.55274177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.72sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2).[0m ×2 + 7.49sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294860 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294860 ms (missed cycles : 4).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168667 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168667 ms (missed cycles : 4).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789247012.87301993 seconds ×3 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.55sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 15.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.13sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_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 + 15.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 15.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 15.97sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.99sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 15.99sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 17.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789246817.21274281 seconds ×3 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949436 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949436 ms (missed cycles : 3).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789246820.59814954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.90sINFOros2_control_node[2026-09-12 21:00:20.812] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-12 21:00:20.812] [info] Accepted new action goal ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823236 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823236 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332635 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332635 ms (missed cycles : 3).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144162 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144162 ms (missed cycles : 2).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652117 ms (missed cycles : 5). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.652117 ms (missed cycles : 5).[0m ×2 + 7.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.47sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 5 iterations (0.00495178 s). ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660386 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660386 ms (missed cycles : 3).[0m ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.58sINFOros2_control_node[2026-09-12 21:00:25.495] [info] Received new action goal ×2 + 8.58sINFOros2_control_node[2026-09-12 21:00:25.495] [info] Accepted new action goal ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121419 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121419 ms (missed cycles : 4).[0m ×2 + 9.55sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899583 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899583 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3).[0m ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 11.28sINFOobjective_server_nodeFound path in 1 iterations (0.00483426 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.51sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Received new action goal ×2 + 11.51sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Accepted new action goal ×2 + 11.94sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Received new action goal ×2 + 11.94sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Accepted new action goal ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7).[0m ×2 + 12.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6).[0m ×2 + 13.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.96sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.01sERRORobjective_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: 1789246830.92184305 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.79sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246831.70430875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 14.98sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2).[0m ×2 + 17.58sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Received new action goal ×2 + 17.58sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631320 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631320 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 5 iterations (0.00785271 s). ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785985 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785985 ms (missed cycles : 2).[0m ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.38sINFOros2_control_node[2026-09-12 21:00:14.648] [info] Received new action goal ×2 + 8.38sINFOros2_control_node[2026-09-12 21:00:14.648] [info] Accepted new action goal ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593390 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593390 ms (missed cycles : 2).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861174 ms (missed cycles : 5). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861174 ms (missed cycles : 5).[0m ×2 + 10.64sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.91sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789246817.21274281 seconds ×3 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949436 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949436 ms (missed cycles : 3).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786951 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547067 ms (missed cycles : 3).[0m ×2 + 14.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.33sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789246820.59814954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.54sINFOros2_control_node[2026-09-12 21:00:20.812] [info] Received new action goal ×2 + 14.54sINFOros2_control_node[2026-09-12 21:00:20.812] [info] Accepted new action goal ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823236 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823236 ms (missed cycles : 2).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332635 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332635 ms (missed cycles : 3).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144162 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144162 ms (missed cycles : 2).[0m ×2 + 16.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816674 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816674 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393528 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393528 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293564 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293564 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222236 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222236 ms (missed cycles : 4).[0m ×2 + 10.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719366 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719366 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2).[0m ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sERRORobjective_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: 1789246991.36472583 seconds ×3 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.75sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246991.96807361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2).[0m ×2 + 15.07sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Accepted new action goal ×2 + 15.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.60sINFOobjective_server_nodecaller: ×12 + 0.60sINFOobjective_server_nodetype: 0 ×12 + 0.60sINFOobjective_server_nodename: "" ×12 + 0.60sINFOobjective_server_nodeinstance_id: "" ×12 + 0.60sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 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 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.65sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.17sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2).[0m ×2 + 7.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268285 ms (missed cycles : 6). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268285 ms (missed cycles : 6).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067418 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067418 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387470 ms (missed cycles : 6). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387470 ms (missed cycles : 6).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 9.98sINFOros2_control_node[2026-09-12 20:59:30.632] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-09-12 20:59:30.632] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947577 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947577 ms (missed cycles : 3).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542234 ms (missed cycles : 4). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542234 ms (missed cycles : 4).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830585 ms (missed cycles : 5). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830585 ms (missed cycles : 5).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-09-12 20:59:33.970] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-12 20:59:33.971] [info] Accepted new action goal ×2 + 13.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sINFOros2_control_node[2026-09-12 20:59:34.467] [info] Got request to cancel active goal. ×2 + 13.81sINFOros2_control_node[2026-09-12 20:59:34.467] [info] Canceling active goal... ×2 + 13.82sERRORobjective_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: 1789246774.48241735 seconds ×3 + 13.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001855 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001855 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_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: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789246775.08958721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.65sINFOros2_control_node[2026-09-12 20:59:35.314] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-09-12 20:59:35.314] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973455 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973455 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602318 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602318 ms (missed cycles : 3).[0m ×2 + 16.91sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 16.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.93sINFOros2_control_node[2026-09-12 20:59:37.593] [info] Received new action goal ×2 + 16.94sINFOros2_control_node[2026-09-12 20:59:37.594] [info] Accepted new action goal ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617918 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617918 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947577 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947577 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542234 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542234 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830585 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830585 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 2.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.40sINFOros2_control_node[2026-09-12 20:59:33.970] [info] Received new action goal ×2 + 2.40sINFOros2_control_node[2026-09-12 20:59:33.971] [info] Accepted new action goal ×2 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.89sINFOros2_control_node[2026-09-12 20:59:34.467] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-12 20:59:34.467] [info] Canceling active goal... ×2 + 2.91sERRORobjective_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: 1789246774.48241735 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001855 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001855 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.44sINFOobjective_server_nodecaller: ×6 + 3.44sINFOobjective_server_nodetype: 0 ×6 + 3.44sINFOobjective_server_nodename: "" ×6 + 3.44sINFOobjective_server_nodeinstance_id: "" ×6 + 3.44sINFOobjective_server_node ×6 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789246775.08958721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-12 20:59:35.314] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-12 20:59:35.314] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973455 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973455 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602318 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602318 ms (missed cycles : 3).[0m ×2 + 5.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.02sINFOros2_control_node[2026-09-12 20:59:37.593] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-09-12 20:59:37.594] [info] Accepted new action goal ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617918 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617918 ms (missed cycles : 3).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172735 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172735 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739800 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739800 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259651 ms (missed cycles : 5). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259651 ms (missed cycles : 5).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 13.79sERRORobjective_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: 1789246785.37012649 seconds ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 14.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.40sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 14.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 15.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.34sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 62 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[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: ``}. ×6 + 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: 1789247012.87301993 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.55sINFOobjective_server_nodecaller: ×14 + 2.55sINFOobjective_server_nodetype: 0 ×14 + 2.55sINFOobjective_server_nodename: "" ×14 + 2.55sINFOobjective_server_nodeinstance_id: "" ×14 + 2.55sINFOobjective_server_node ×14 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1789247013.55945420 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607940 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607940 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.39sINFOros2_control_node[2026-09-12 21:03:38.272] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-09-12 21:03:38.272] [info] Accepted new action goal ×2 + 7.39sINFOros2_control_node[2026-09-12 21:03:38.273] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699041 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699041 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579329 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579329 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849025 ms (missed cycles : 5). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.849025 ms (missed cycles : 5).[0m ×2 + 11.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 13.98sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 13.98sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 13.99sERRORobjective_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: 1789247024.87357712 seconds ×3 + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 15.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.95sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.00sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.00sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.00sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.00sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.00sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 16.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 17.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719366 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719366 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_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: 1789246991.36472583 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246991.96807361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897088 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897088 ms (missed cycles : 2).[0m ×2 + 7.39sINFOros2_control_node[2026-09-12 21:03:16.313] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-09-12 21:03:16.313] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130193 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130193 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583044 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583044 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2).[0m ×2 + 10.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5).[0m ×2 + 12.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789247001.89847612 seconds ×3 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6).[0m ×2 + 13.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.56sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789247002.55274177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 13.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.77sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Received new action goal ×2 + 13.77sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Accepted new action goal ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3).[0m ×2 + 15.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246843.05252194 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789246843.73861885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246843.81875706 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 7.37sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.46sINFOobjective_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 + 7.46sINFOobjective_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 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.81sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 692 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.39sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.39sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.40sWARNros2_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 + 0.40sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.40sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.40sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.40sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.40sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.40sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.40sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.40sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.40sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.40sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849509 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849509 ms (missed cycles : 2).[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.55sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.57sINFOros2_control_node[2026-09-12 20:59:16.601] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.57sINFOros2_control_node[2026-09-12 20:59:16.602] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.59sINFOros2_control_node[2026-09-12 20:59:16.626] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.59sINFOros2_control_node[2026-09-12 20:59:16.626] [info] Controller state will be published at 50 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-12 20:59:16.633] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.69sINFOcomponent_container_mt[2026-09-12 20:59:16.731] [moveit_pro_license] [info] ×2 + 0.69sINFOcomponent_container_mt************************************************* ×4 + 0.69sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.69sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.89sINFOros2-6process has finished cleanly [pid 7236] ×2 + 0.92sINFOros2_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 + 0.92sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.92sWARNros2_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 + 0.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.21sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.25sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.26sINFOforce_torque_sensor_broadcasterconfigure successful + 1.26sINFOros2_control_nodeconfigure successful[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.26sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 7234] ×2 + 1.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878071 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878071 ms (missed cycles : 5).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.57sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.57sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.57sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.57sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 1.58sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.61sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.61sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.61sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOros2-2process has finished cleanly [pid 7232] ×2 + 1.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.63sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.63sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sWARNobjective_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 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 1.98sINFOros2-3process has finished cleanly [pid 7233] ×2 + 2.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.03sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.03sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.03sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.03sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.03sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.20sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.35sINFOros2-5process has finished cleanly [pid 7235] ×2 + 2.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 2.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 2.43sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.43sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.43sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.43sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.46sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 2.46sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.84sINFOros2-7process has finished cleanly [pid 7237] ×2 + 2.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 2.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.89sINFOobjective_server_nodecaller: ×14 + 2.89sINFOobjective_server_nodetype: 0 ×14 + 2.89sINFOobjective_server_nodename: "" ×14 + 2.89sINFOobjective_server_nodeinstance_id: "" ×14 + 2.89sINFOobjective_server_node ×14 + 2.89sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.89sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.93sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2-8process has finished cleanly [pid 7238] ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_control_nodeCamera render tick took 1.91 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 + 4.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 7.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 8.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.28sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789247024.87357712 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4).[0m ×2 + 7.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789247029.50123668 seconds ×3 + 7.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2). | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 20 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246843.05252194 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 `Load MuJoCo Robot State` starting at time: 1789246843.73861885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246843.81875706 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_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: 1789246785.37012649 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1789247012.87301993 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 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 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 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: 1789247014.18046927 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869976 ms (missed cycles : 4).[0m ×2 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.45sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.21sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 502 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7233] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.60sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.65sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7237] ×2 + 1.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [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 + 1.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 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 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 0.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.32sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 0.32sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 0.32sERRORobjective_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: 1789247024.87357712 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.87sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.87sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.87sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.87sINFOobjective_server_nodecaller: ×8 + 0.87sINFOobjective_server_nodetype: 0 ×8 + 0.87sINFOobjective_server_nodename: "" ×8 + 0.87sINFOobjective_server_nodeinstance_id: "" ×8 + 0.87sINFOobjective_server_node ×8 + 0.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.34sINFOobjective_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 + 2.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789247029.50123668 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.378226 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.378226 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[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: 1789247012.87301993 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_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: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1789247013.55945420 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789247024.87357712 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.92sINFOobjective_server_nodecaller: ×8 + 1.92sINFOobjective_server_nodetype: 0 ×8 + 1.92sINFOobjective_server_nodename: "" ×8 + 1.92sINFOobjective_server_nodeinstance_id: "" ×8 + 1.92sINFOobjective_server_node ×8 + 1.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.39sINFOobjective_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 + 3.39sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132143 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789247029.50123668 seconds ×3 + 6.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757834 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2026 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_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: 1789246785.37012649 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526612 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_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: 1789246785.37012649 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246785.37012649 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.22sINFOobjective_server_nodecaller: ×4 + 2.22sINFOobjective_server_nodetype: 0 ×4 + 2.22sINFOobjective_server_nodename: "" ×4 + 2.22sINFOobjective_server_nodeinstance_id: "" ×4 + 2.22sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246785.37012649 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.22sINFOobjective_server_nodecaller: ×4 + 2.22sINFOobjective_server_nodetype: 0 ×4 + 2.22sINFOobjective_server_nodename: "" ×4 + 2.22sINFOobjective_server_nodeinstance_id: "" ×4 + 2.22sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246785.37012649 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.22sINFOobjective_server_nodecaller: ×4 + 2.22sINFOobjective_server_nodetype: 0 ×4 + 2.22sINFOobjective_server_nodename: "" ×4 + 2.22sINFOobjective_server_nodeinstance_id: "" ×4 + 2.22sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.220728 ms (missed cycles : 8).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360193 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789246785.37012649 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586863 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.22sINFOobjective_server_nodecaller: ×4 + 2.22sINFOobjective_server_nodetype: 0 ×4 + 2.22sINFOobjective_server_nodename: "" ×4 + 2.22sINFOobjective_server_nodeinstance_id: "" ×4 + 2.22sINFOobjective_server_node ×4 + 2.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789246786.03041029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789246786.12053514 seconds ×3 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789246786.71857071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-12 20:59:46.912] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296010 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721444 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651777 ms (missed cycles : 4).[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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022897 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:55.960] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476954 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789246797.25677896 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040545 ms (missed cycles : 2).[0m ×2 + 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 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789246797.89878869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789246797.93891168 seconds ×3 + 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 + 3.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789246798.59584928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012780 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-12 20:59:58.720] [info] Accepted new action goal ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680636 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827058 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282273 ms (missed cycles : 3).[0m ×2 + 0.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.777] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-12 21:00:06.778] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555840 ms (missed cycles : 4).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-12 21:00:08.966] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789246808.97872066 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789246809.61081123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739903 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-12 21:00:09.824] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.329907 ms (missed cycles : 5).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669653 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722910 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 1 iterations (0.00483426 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-12 21:00:28.424] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-12 21:00:28.856] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052940 ms (missed cycles : 7).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600380 ms (missed cycles : 6).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_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 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.00sERRORobjective_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: 1789246830.92184305 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161426 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789246831.70430875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.96sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-12 21:00:31.888] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879831 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279806 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100449 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-12 21:00:34.490] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446964 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.513290 ms (missed cycles : 6).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511524 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789246843.05252194 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 `Load MuJoCo Robot State` starting at time: 1789246843.73861885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789246843.81875706 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677412 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789246844.41138935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-09-12 21:00:44.545] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945263 ms (missed cycles : 6).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789246846.55151987 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500109 ms (missed cycles : 4).[0m ×2 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856248 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789246848.19820213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-12 21:00:48.635] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191017 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478558 ms (missed cycles : 4).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014621 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650966 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825264 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789246902.63151050 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394407 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789246903.23535371 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.47sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-12 21:01:43.399] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788840 ms (missed cycles : 5).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.73sINFOobjective_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 + 4.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996181 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953486 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2026 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2026 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2026 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2026 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×323 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×323 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×646 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×646 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796491 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558387 ms (missed cycles : 2).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710496 ms (missed cycles : 6).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.18sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789246969.23476410 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038956 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789246969.94593143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-12 21:02:50.159] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895871 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186244 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.815937 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-12 21:02:57.219] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.585515 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995608 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-12 21:02:58.999] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327472 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789246980.29609990 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542464 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789246981.04428029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sWARNros2_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 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-12 21:03:01.228] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699258 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790415 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016632 ms (missed cycles : 2).[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 2.719366 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719366 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065157 ms (missed cycles : 4).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255176 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_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: 1789246991.36472583 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.98sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.98sINFOobjective_server_nodecaller: ×2 + 2.98sINFOobjective_server_nodetype: 0 ×2 + 2.98sINFOobjective_server_nodename: "" ×2 + 2.98sINFOobjective_server_nodeinstance_id: "" ×2 + 2.98sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789246991.96807361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327240 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-09-12 21:03:12.287] [info] Accepted new action goal ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521580 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433120 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127041 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522010 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840593 ms (missed cycles : 5).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789247001.89847612 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747314 ms (missed cycles : 6).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789247002.55274177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.72sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-12 21:03:22.697] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892652 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541567 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438536 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1789247012.87301993 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 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 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 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: 1789247014.18046927 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1789247012.87301993 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 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 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 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: 1789247014.18046927 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1789247012.87301993 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 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 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 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: 1789247014.18046927 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.500440 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 1.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1789247012.87301993 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789247013.55945420 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 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 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 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: 1789247014.18046927 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[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: 1789247012.87301993 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_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: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1789247013.55945420 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[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: 1789247012.87301993 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_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: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1789247013.55945420 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458429 ms (missed cycles : 2).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816973 ms (missed cycles : 3).[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: 1789247012.87301993 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.99sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840362 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_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: 1789247013.48932767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1789247013.55945420 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581981 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789247014.15828633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789247014.18046927 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789247014.82837248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-12 21:03:34.963] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332166 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834800 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018497 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789247024.87357712 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 210 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408071 ms (missed cycles : 2).[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874655 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459800 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-09-12 21:03:44.868] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1789247024.87357712 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.52sINFOobjective_server_nodecaller: ×8 + 3.52sINFOobjective_server_nodetype: 0 ×8 + 3.52sINFOobjective_server_nodename: "" ×8 + 3.52sINFOobjective_server_nodeinstance_id: "" ×8 + 3.52sINFOobjective_server_node ×8 + 3.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789247025.48790574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.830135 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789247026.29802752 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927121 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789247026.88837147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789247026.89067554 seconds ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789247027.54467726 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789247027.57549691 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767878 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789247028.17109251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 42 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/2026-09-12-20-59-11-977828-d630f94af47f-7183 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378837 ms (missed cycles : 6). + 0.86sINFOros2_control_node-1process started with pid [7231] ×2 + 0.86sINFOmove_group-9process started with pid [7282] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7283] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7284] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7285] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7286] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7287] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7288] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7289] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7290] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7291] ×2 + 0.86sINFOweb_bridge-19process started with pid [7292] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7356] ×2 + 0.86sINFOvideo_server-21process started with pid [7357] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7358] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7359] ×2 + 0.88sINFOros2-2process started with pid [7232] ×2 + 0.88sINFOros2-3process started with pid [7233] ×2 + 0.88sINFOros2-4process started with pid [7234] ×2 + 0.88sINFOros2-5process started with pid [7235] ×2 + 0.88sINFOros2-6process started with pid [7236] ×2 + 0.88sINFOros2-7process started with pid [7237] ×2 + 0.88sINFOros2-8process started with pid [7238] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378837 ms (missed cycles : 6).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF configuration loaded from /tmp/moveit-webrtc-k53spohn/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.62sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.93sINFOmove_group[2026-09-12 20:59:14.284] [moveit_pro_license] [info] ×2 + 1.93sINFOmove_group************************************************* ×4 + 1.93sINFOmove_group* MoveIt Pro License ×2 + 1.93sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.99sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.01sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.01sINFOros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334740 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334740 ms (missed cycles : 3).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.32sINFOwaypoint_manager_node[2026-09-12 20:59:14.673] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group ×4 + 2.49sINFOmove_group[92mYou can start planning now![0m ×2 + 3.33sINFOobjective_server_node[2026-09-12 20:59:15.691] [moveit_pro_license] [info] ×2 + 3.34sINFOobjective_server_node************************************************* ×4 + 3.34sINFOobjective_server_node* MoveIt Pro License ×2 + 3.34sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.49sINFOobjective_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 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.65sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.65sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.08sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.08sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.08sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.08sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.08sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.08sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.08sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.08sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.08sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.08sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.08sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.08sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.08sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.08sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.08sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.08sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849509 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849509 ms (missed cycles : 2).[0m ×2 + 4.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 4.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 4.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.25sINFOros2_control_node[2026-09-12 20:59:16.601] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.25sINFOros2_control_node[2026-09-12 20:59:16.602] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.25sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.27sINFOros2_control_node[2026-09-12 20:59:16.626] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.27sINFOros2_control_node[2026-09-12 20:59:16.626] [info] Controller state will be published at 50 Hz. ×2 + 4.28sINFOros2_control_node[2026-09-12 20:59:16.633] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.37sINFOcomponent_container_mt[2026-09-12 20:59:16.731] [moveit_pro_license] [info] ×2 + 4.37sINFOcomponent_container_mt************************************************* ×4 + 4.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.52sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.52sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.52sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.52sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 4.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 4.57sINFOros2-6process has finished cleanly [pid 7236] ×2 + 4.60sINFOros2_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 + 4.60sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.60sWARNros2_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 + 4.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.61sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.62sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.62sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.62sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 4.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 4.93sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.93sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.94sINFOforce_torque_sensor_broadcasterconfigure successful + 4.94sINFOros2_control_nodeconfigure successful[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.94sINFOros2-4process has finished cleanly [pid 7234] ×2 + 4.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878071 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878071 ms (missed cycles : 5).[0m ×2 + 5.25sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.25sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.25sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.25sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.25sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 5.25sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 5.26sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.26sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.30sINFOros2-2process has finished cleanly [pid 7232] ×2 + 5.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.43sWARNobjective_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 + 5.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.65sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 5.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 5.66sINFOros2-3process has finished cleanly [pid 7233] ×2 + 5.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.72sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.72sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.72sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.72sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.03sINFOros2-5process has finished cleanly [pid 7235] ×2 + 6.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 6.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 6.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.14sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 6.14sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.52sINFOros2-7process has finished cleanly [pid 7237] ×2 + 6.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 6.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.57sINFOobjective_server_nodecaller: ×10 + 6.57sINFOobjective_server_nodetype: 0 ×10 + 6.57sINFOobjective_server_nodename: "" ×10 + 6.57sINFOobjective_server_nodeinstance_id: "" ×10 + 6.57sINFOobjective_server_node ×10 + 6.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.61sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 6.61sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 6.96sINFOros2-8process has finished cleanly [pid 7238] ×2 + 7.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 8.30sWARNros2_control_nodeCamera render tick took 1.91 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 + 8.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 8.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 9.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.62sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 10.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 345 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.34sINFOobjective_server_nodecaller: ×12 + 0.34sINFOobjective_server_nodetype: 0 ×12 + 0.34sINFOobjective_server_nodename: "" ×12 + 0.34sINFOobjective_server_nodeinstance_id: "" ×12 + 0.34sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 1.47sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 7.26sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 423 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 7237] ×2 + 0.46sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 181 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/2026-09-12-20-59-11-977828-d630f94af47f-7183 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378837 ms (missed cycles : 6). + 0.86sINFOros2_control_node-1process started with pid [7231] ×2 + 0.86sINFOmove_group-9process started with pid [7282] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7283] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7284] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7285] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7286] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7287] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7288] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7289] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7290] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7291] ×2 + 0.86sINFOweb_bridge-19process started with pid [7292] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7356] ×2 + 0.86sINFOvideo_server-21process started with pid [7357] ×2 + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7358] ×2 + 0.88sINFOweb_video_auth_proxy-23process started with pid [7359] ×2 + 0.88sINFOros2-2process started with pid [7232] ×2 + 0.88sINFOros2-3process started with pid [7233] ×2 + 0.88sINFOros2-4process started with pid [7234] ×2 + 0.88sINFOros2-5process started with pid [7235] ×2 + 0.88sINFOros2-6process started with pid [7236] ×2 + 0.88sINFOros2-7process started with pid [7237] ×2 + 0.88sINFOros2-8process started with pid [7238] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378837 ms (missed cycles : 6).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF configuration loaded from /tmp/moveit-webrtc-k53spohn/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/12 20:59:13 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.62sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.93sINFOmove_group[2026-09-12 20:59:14.284] [moveit_pro_license] [info] ×2 + 1.93sINFOmove_group************************************************* ×4 + 1.93sINFOmove_group* MoveIt Pro License ×2 + 1.93sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.99sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.99sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.99sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.01sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.01sINFOros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334740 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334740 ms (missed cycles : 3).[0m ×2 + 2.23sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.32sINFOwaypoint_manager_node[2026-09-12 20:59:14.673] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group ×4 + 2.49sINFOmove_group[92mYou can start planning now![0m ×2 + 3.33sINFOobjective_server_node[2026-09-12 20:59:15.691] [moveit_pro_license] [info] ×2 + 3.34sINFOobjective_server_node************************************************* ×4 + 3.34sINFOobjective_server_node* MoveIt Pro License ×2 + 3.34sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.49sINFOobjective_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 + 3.49sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 502 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7233] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.60sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.65sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7237] ×2 + 1.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [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 + 1.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 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 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 502 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7233] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.60sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.65sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7237] ×2 + 1.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [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 + 1.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 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 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 502 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7233] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.60sINFOros2-5process has finished cleanly [pid 7235] ×2 + 0.65sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.65sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7237] ×2 + 1.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 1.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [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 + 1.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 1.18sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 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 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 423 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.03sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.03sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-09-12 20:59:18.500] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-12 20:59:18.501] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 7237] ×2 + 0.46sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml + 0.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wofjf54t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_7txsqi5s --params-file /tmp/launch_params_1kmvpvml [0m ×2 + 0.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.49sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.49sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.49sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.49sINFOobjective_server_nodecaller: ×14 + 0.49sINFOobjective_server_nodetype: 0 ×14 + 0.49sINFOobjective_server_nodename: "" ×14 + 0.49sINFOobjective_server_nodeinstance_id: "" ×14 + 0.49sINFOobjective_server_node ×14 + 0.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:18.962] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-12 20:59:18.963] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789246758.98100853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789246758.99125338 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2-8process has finished cleanly [pid 7238] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 2.23sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806193 ms (missed cycles : 3).[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7238] ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.34sINFOobjective_server_nodecaller: ×12 + 0.34sINFOobjective_server_nodetype: 0 ×12 + 0.34sINFOobjective_server_nodename: "" ×12 + 0.34sINFOobjective_server_nodeinstance_id: "" ×12 + 0.34sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789246759.58070993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 1.47sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.12sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Accepted new action goal ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796765 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-12 20:59:26.831] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384653 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789246760.69089365 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789246761.31543899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636832 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789246761.37562490 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789246762.03472137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789246762.05484557 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924073 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789246762.64640832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789246762.79700422 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789246763.51221061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244152 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789246763.57233620 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789246764.17649531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.1731e-05 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-12 20:59:24.313] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874753 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378848 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||