128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 163 warnings · 19083 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789373108.40791869 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.41sINFOobjective_server_nodecaller: ×4 + 2.41sINFOobjective_server_nodetype: 0 ×4 + 2.41sINFOobjective_server_nodename: "" ×4 + 2.41sINFOobjective_server_nodeinstance_id: "" ×4 + 2.41sINFOobjective_server_node ×4 + 2.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789373109.00746298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 2.63sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.64sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 3.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 ms (missed cycles : 2).[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal ×3137 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal ×3137 + 6.12sINFOros2_control_nodeReceived new action goal[0m ×6274 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×6274 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444443 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444443 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331413 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331413 ms (missed cycles : 2).[0m ×2 + 7.61sWARNros2_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 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445667 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445667 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793061 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793061 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864410 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864410 ms (missed cycles : 2).[0m ×2 + 10.99sINFOjoint_trajectory_controllerGot request to cancel goal ×11 + 10.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 10.99sINFOros2_control_nodeGot request to cancel goal[0m ×22 + 10.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 10.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017437 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017437 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046193 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046193 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234648 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234648 ms (missed cycles : 2).[0m ×2 + 13.67sWARNros2_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 ×6 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534542 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534542 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067556 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067556 ms (missed cycles : 2).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291921 ms (missed cycles : 3). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291921 ms (missed cycles : 3).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817368 ms (missed cycles : 6). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.817368 ms (missed cycles : 6).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183328 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183328 ms (missed cycles : 2).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096921 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096921 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210028 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210028 ms (missed cycles : 2).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613907 ms (missed cycles : 2). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613907 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737831 ms (missed cycles : 3). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737831 ms (missed cycles : 3).[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808853 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808853 ms (missed cycles : 2).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703638 ms (missed cycles : 2). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703638 ms (missed cycles : 2).[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337923 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337923 ms (missed cycles : 2).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482074 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482074 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706779 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706779 ms (missed cycles : 2).[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509761 ms (missed cycles : 3). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509761 ms (missed cycles : 3).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979819 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979819 ms (missed cycles : 2).[0m ×2 + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015838 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015838 ms (missed cycles : 2).[0m ×2 + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437423 ms (missed cycles : 4). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437423 ms (missed cycles : 4).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993506 ms (missed cycles : 2). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993506 ms (missed cycles : 2).[0m ×2 + 33.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738929 ms (missed cycles : 2). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738929 ms (missed cycles : 2).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675287 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675287 ms (missed cycles : 2).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897206 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897206 ms (missed cycles : 2).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951022 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951022 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043011 ms (missed cycles : 2). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043011 ms (missed cycles : 2).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736846 ms (missed cycles : 2). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736846 ms (missed cycles : 2).[0m ×2 + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781401 ms (missed cycles : 2). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781401 ms (missed cycles : 2).[0m ×2 + 40.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143589 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143589 ms (missed cycles : 2).[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966362 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966362 ms (missed cycles : 2).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714039 ms (missed cycles : 2). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714039 ms (missed cycles : 2).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138651 ms (missed cycles : 2). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138651 ms (missed cycles : 2).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204963 ms (missed cycles : 2). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204963 ms (missed cycles : 2).[0m ×2 + 46.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373152.91191530 seconds ×3 + 46.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081545 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081545 ms (missed cycles : 2).[0m ×2 + 46.80sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.92sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789373153.54304028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.07sINFOobjective_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 + 47.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.18sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 47.19sINFOros2_control_node[2026-09-14 08:05:53.726] [info] Received new action goal ×2 + 47.19sINFOros2_control_node[2026-09-14 08:05:53.726] [info] Accepted new action goal ×2 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238885 ms (missed cycles : 2). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238885 ms (missed cycles : 2).[0m ×2 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129749 ms (missed cycles : 5). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129749 ms (missed cycles : 5).[0m ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707710 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707710 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 154 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_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 ×6 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×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 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 + 6.93sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 6.94sINFOros2_control_node[2026-09-14 08:04:18.236] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-14 08:04:18.236] [info] Accepted new action goal ×2 + 7.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590763 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590763 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685884 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685884 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042182 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042182 ms (missed cycles : 2).[0m ×2 + 10.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.23sINFOros2_control_node[2026-09-14 08:04:21.526] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-09-14 08:04:21.526] [info] Accepted new action goal ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266982 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266982 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229152 ms (missed cycles : 5). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229152 ms (missed cycles : 5).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252688 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252688 ms (missed cycles : 2).[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.27sINFOros2_control_node[2026-09-14 08:04:24.559] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-09-14 08:04:24.559] [info] Accepted new action goal ×2 + 13.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953427 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953427 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493403 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493403 ms (missed cycles : 3).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506237 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506237 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_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 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615630 ms (missed cycles : 6). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615630 ms (missed cycles : 6).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374873 ms (missed cycles : 3). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374873 ms (missed cycles : 3).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175517 ms (missed cycles : 4). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175517 ms (missed cycles : 4).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689609 ms (missed cycles : 5). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689609 ms (missed cycles : 5).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278912 ms (missed cycles : 5). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.278912 ms (missed cycles : 5).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282601 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282601 ms (missed cycles : 3).[0m ×2 + 23.00sINFOobjective_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 + 23.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.01sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.01sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.01sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160191 ms (missed cycles : 3). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160191 ms (missed cycles : 3).[0m ×2 + 23.96sINFOros2_control_node[2026-09-14 08:04:35.249] [info] Received new action goal ×2 + 23.96sINFOros2_control_node[2026-09-14 08:04:35.249] [info] Accepted new action goal ×2 + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869351 ms (missed cycles : 3). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869351 ms (missed cycles : 3).[0m ×2 + 25.12sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.13sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.41sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 25.41sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.45sINFOros2_control_node[2026-09-14 08:04:36.743] [info] Received new action goal ×2 + 25.45sINFOros2_control_node[2026-09-14 08:04:36.743] [info] Accepted new action goal ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.090737 ms (missed cycles : 6). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.090737 ms (missed cycles : 6).[0m ×2 + 25.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389782 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389782 ms (missed cycles : 2).[0m ×2 + 27.60sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 27.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.62sINFOros2_control_node[2026-09-14 08:04:38.910] [info] Received new action goal ×2 + 27.62sINFOros2_control_node[2026-09-14 08:04:38.910] [info] Accepted new action goal ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739495 ms (missed cycles : 5). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739495 ms (missed cycles : 5).[0m ×2 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764080 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764080 ms (missed cycles : 2).[0m ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169359 ms (missed cycles : 2). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169359 ms (missed cycles : 2).[0m ×2 + 30.79sINFOros2_control_node[2026-09-14 08:04:42.080] [info] Received new action goal ×2 + 30.79sINFOros2_control_node[2026-09-14 08:04:42.080] [info] Accepted new action goal ×2 + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056236 ms (missed cycles : 2). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056236 ms (missed cycles : 2).[0m ×2 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842297 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842297 ms (missed cycles : 2).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167523 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167523 ms (missed cycles : 2).[0m ×2 + 33.38sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 33.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.43sINFOros2_control_node[2026-09-14 08:04:44.723] [info] Received new action goal ×2 + 33.43sINFOros2_control_node[2026-09-14 08:04:44.723] [info] Accepted new action goal ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504067 ms (missed cycles : 2). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504067 ms (missed cycles : 2).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097860 ms (missed cycles : 2). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097860 ms (missed cycles : 2).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005754 ms (missed cycles : 4). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005754 ms (missed cycles : 4).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190904 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190904 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993348 ms (missed cycles : 5). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993348 ms (missed cycles : 5).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311722 ms (missed cycles : 2). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311722 ms (missed cycles : 2).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842318 ms (missed cycles : 2). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842318 ms (missed cycles : 2).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368015 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368015 ms (missed cycles : 4).[0m ×2 + 42.04sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230881 ms (missed cycles : 3). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230881 ms (missed cycles : 3).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627304 ms (missed cycles : 3). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627304 ms (missed cycles : 3).[0m ×2 + 44.13sINFOros2_control_node[2026-09-14 08:04:55.421] [info] Received new action goal ×2 + 44.13sINFOros2_control_node[2026-09-14 08:04:55.421] [info] Accepted new action goal ×2 + 44.42sWARNros2_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 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306089 ms (missed cycles : 3). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306089 ms (missed cycles : 3).[0m ×2 + 45.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789373096.57739687 seconds ×3 + 45.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.88sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.09sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789373097.38546348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704311 ms (missed cycles : 3). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704311 ms (missed cycles : 3).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535752 ms (missed cycles : 2). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535752 ms (missed cycles : 2).[0m ×2 + 47.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 47.32sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.34sINFOros2_control_node[2026-09-14 08:04:58.630] [info] Received new action goal ×2 + 47.34sINFOros2_control_node[2026-09-14 08:04:58.630] [info] Accepted new action goal ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063129 ms (missed cycles : 4). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063129 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 | 92 warnings · 13362 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2194 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2194 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4388 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4388 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714039 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714039 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138651 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138651 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204963 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204963 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373152.91191530 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081545 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081545 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789373153.54304028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_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 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.94sINFOros2_control_node[2026-09-14 08:05:53.726] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-09-14 08:05:53.726] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238885 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238885 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.25sINFOobjective_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 + 5.27sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129749 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129749 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707710 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707710 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879885 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879885 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083061 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083061 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172469 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172469 ms (missed cycles : 2).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.157633 ms (missed cycles : 7). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.157633 ms (missed cycles : 7).[0m ×2 + 11.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292514 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292514 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763822 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763822 ms (missed cycles : 2).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924640 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924640 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174837 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174837 ms (missed cycles : 2).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153063 ms (missed cycles : 5). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153063 ms (missed cycles : 5).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513821 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513821 ms (missed cycles : 3).[0m ×2 + 17.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074090 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074090 ms (missed cycles : 2).[0m ×2 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877061 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877061 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694333 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694333 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760024 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760024 ms (missed cycles : 2).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 23.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 25.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 25.90sINFOobjective_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: ""
+ 25.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.18sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 26.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.19sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 26.19sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 62 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4).[0m ×2 + 0.06sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Received new action goal ×2 + 0.06sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Accepted new action goal ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4).[0m ×2 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.51sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Received new action goal ×2 + 2.51sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Accepted new action goal ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789373037.94853854 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.29sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.30sINFOobjective_server_nodecaller: ×6 + 3.30sINFOobjective_server_nodetype: 0 ×6 + 3.30sINFOobjective_server_nodename: "" ×6 + 3.30sINFOobjective_server_nodeinstance_id: "" ×6 + 3.30sINFOobjective_server_node ×6 + 3.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789373038.59399366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.60sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160186 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160186 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035345 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035345 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808788 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808788 ms (missed cycles : 4).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159223 ms (missed cycles : 5). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159223 ms (missed cycles : 5).[0m ×2 + 10.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716023 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716023 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789373049.84337783 seconds ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5).[0m ×2 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.26sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789373050.50775051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789373050.58788252 seconds ×3 + 15.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.94sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789373051.19031811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.10sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 16.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.11sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 16.11sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 16.83sWARNros2_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 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 18.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[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 4.230881 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230881 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_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 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.27sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627304 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627304 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.17sINFOros2_control_node[2026-09-14 08:04:55.421] [info] Received new action goal ×2 + 1.17sINFOros2_control_node[2026-09-14 08:04:55.421] [info] Accepted new action goal ×2 + 1.46sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306089 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306089 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789373096.57739687 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789373097.38546348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704311 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704311 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535752 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535752 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.38sINFOros2_control_node[2026-09-14 08:04:58.630] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-14 08:04:58.630] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063129 ms (missed cycles : 4).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477977 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477977 ms (missed cycles : 2).[0m ×2 + 7.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686389 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686389 ms (missed cycles : 4).[0m ×2 + 8.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.08sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.08sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.08sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.08sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530827 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530827 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726658 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726658 ms (missed cycles : 2).[0m ×2 + 10.53sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 10.55sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.55sINFOros2_control_node[2026-09-14 08:05:04.802] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-09-14 08:05:04.802] [info] Accepted new action goal ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296294 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296294 ms (missed cycles : 3).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6).[0m ×2 + 13.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789373108.40791869 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2).[0m ×2 + 14.70sINFOobjective_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: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789373109.00746298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 14.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.93sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2).[0m ×2 + 16.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.21sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 59 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.42sINFOobjective_server_nodecaller: ×6 + 2.42sINFOobjective_server_nodetype: 0 ×6 + 2.42sINFOobjective_server_nodename: "" ×6 + 2.42sINFOobjective_server_nodeinstance_id: "" ×6 + 2.42sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.69sINFOros2_control_node[2026-09-14 08:03:28.885] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-14 08:03:28.886] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792923 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792923 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963122 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963122 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 9.03sINFOros2_control_node[2026-09-14 08:03:31.224] [info] Received new action goal ×2 + 9.03sINFOros2_control_node[2026-09-14 08:03:31.224] [info] Accepted new action goal ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825210 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825210 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966115 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966115 ms (missed cycles : 3).[0m ×2 + 11.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.38sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 11.38sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 11.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 13.64sINFOobjective_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 + 13.71sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 13.71sERRORobjective_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: 1789373015.90572262 seconds ×3 + 14.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.34sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.54sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 14.54sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 16.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 3 errors · 59 warnings · 214 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247198 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247198 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154842 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154842 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707345 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707345 ms (missed cycles : 3).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789373027.45383620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.11sINFOros2_control_node[2026-09-14 08:03:47.685] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-14 08:03:47.685] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007723 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007723 ms (missed cycles : 4).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812567 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812567 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071556 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071556 ms (missed cycles : 2).[0m ×2 + 6.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.33sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661904 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661904 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 6.61sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.67sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.76sINFOobjective_server_nodeFound path in 5 iterations (0.00462131 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (1.76e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.39sINFOros2_control_node[2026-09-14 08:03:51.960] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-09-14 08:03:51.960] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297997 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297997 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723568 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723568 ms (missed cycles : 3).[0m ×2 + 8.76sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708455 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708455 ms (missed cycles : 2).[0m ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 9.91sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 10.03sINFOobjective_server_nodeFound path in 1 iterations (0.00301044 s). ×2 + 10.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 10.24sINFOros2_control_node[2026-09-14 08:03:54.820] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-09-14 08:03:54.820] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4).[0m ×2 + 10.68sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Accepted new action goal ×2 + 11.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4).[0m ×2 + 13.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.12sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Received new action goal ×2 + 13.12sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Accepted new action goal ×2 + 13.36sINFOobjective_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 + 13.36sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Got request to cancel active goal. ×2 + 13.36sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Canceling active goal... ×2 + 13.37sERRORobjective_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: 1789373037.94853854 seconds ×3 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4).[0m ×2 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789373038.59399366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.21sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Received new action goal ×2 + 14.21sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Accepted new action goal ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2).[0m ×2 + 16.70sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Received new action goal ×2 + 16.70sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Accepted new action goal ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 59 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 1.95sINFOobjective_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 + 1.95sERRORobjective_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: 1789372992.33742380 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.56sINFOobjective_server_nodecaller: ×8 + 2.56sINFOobjective_server_nodetype: 0 ×8 + 2.56sINFOobjective_server_nodename: "" ×8 + 2.56sINFOobjective_server_nodeinstance_id: "" ×8 + 2.56sINFOobjective_server_node ×8 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.956725 ms (missed cycles : 6). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.956725 ms (missed cycles : 6).[0m ×2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00410251 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.26sINFOros2_control_node[2026-09-14 08:03:18.644] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-09-14 08:03:18.644] [info] Accepted new action goal ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906356 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906356 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775639 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775639 ms (missed cycles : 2).[0m ×2 + 10.56sINFOros2_control_node[2026-09-14 08:03:20.947] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-09-14 08:03:20.947] [info] Accepted new action goal ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008581 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008581 ms (missed cycles : 3).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 12.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 12.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.40sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 12.40sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 13.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 14.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.14sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344584 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344584 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729066 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729066 ms (missed cycles : 5).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989909 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989909 ms (missed cycles : 3).[0m ×2 + 2.12sINFOros2_control_node[2026-09-14 08:03:00.748] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-14 08:03:00.748] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.70sINFOros2_control_node[2026-09-14 08:03:01.334] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-14 08:03:01.334] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1789372981.35013318 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102353 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102353 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_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: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789372981.95685458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.54sINFOros2_control_node[2026-09-14 08:03:02.174] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-14 08:03:02.174] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243284 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243284 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844314 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844314 ms (missed cycles : 4).[0m ×2 + 5.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.81sINFOros2_control_node[2026-09-14 08:03:04.440] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-14 08:03:04.440] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655926 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655926 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883924 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883924 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263878 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263878 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020905 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020905 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 13.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 13.70sERRORobjective_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: 1789372992.33742380 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 15.23sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 15.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.24sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789373207.36643291 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.85sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.85sINFOobjective_server_nodecaller: ×8 + 2.85sINFOobjective_server_nodetype: 0 ×8 + 2.85sINFOobjective_server_nodename: "" ×8 + 2.85sINFOobjective_server_nodeinstance_id: "" ×8 + 2.85sINFOobjective_server_node ×8 + 2.91sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789373208.01039696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.05sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890710 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890710 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395529 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395529 ms (missed cycles : 3).[0m ×2 + 8.24sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565613 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565613 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990985 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990985 ms (missed cycles : 2).[0m ×2 + 10.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 13.23sINFOobjective_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 + 13.24sERRORobjective_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: 1789373218.34066725 seconds ×3 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 13.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 13.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 13.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 15.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.33sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 16.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.73sINFOobjective_server_nodecaller: ×12 + 0.73sINFOobjective_server_nodetype: 0 ×12 + 0.73sINFOobjective_server_nodename: "" ×12 + 0.73sINFOobjective_server_nodeinstance_id: "" ×12 + 0.73sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860833 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860833 ms (missed cycles : 3).[0m ×2 + 7.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.823775 ms (missed cycles : 8). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.823775 ms (missed cycles : 8).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978461 ms (missed cycles : 3). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978461 ms (missed cycles : 3).[0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 10.05sINFOros2_control_node[2026-09-14 08:02:57.418] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-09-14 08:02:57.418] [info] Accepted new action goal ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045134 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045134 ms (missed cycles : 2).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344584 ms (missed cycles : 4). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344584 ms (missed cycles : 4).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729066 ms (missed cycles : 5). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729066 ms (missed cycles : 5).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989909 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989909 ms (missed cycles : 3).[0m ×2 + 13.38sINFOros2_control_node[2026-09-14 08:03:00.748] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-09-14 08:03:00.748] [info] Accepted new action goal ×2 + 13.97sINFOobjective_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 + 13.97sINFOros2_control_node[2026-09-14 08:03:01.334] [info] Got request to cancel active goal. ×2 + 13.97sINFOros2_control_node[2026-09-14 08:03:01.334] [info] Canceling active goal... ×2 + 13.98sERRORobjective_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: 1789372981.35013318 seconds ×3 + 13.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102353 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102353 ms (missed cycles : 4).[0m ×2 + 14.52sINFOobjective_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: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789372981.95685458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 14.81sINFOros2_control_node[2026-09-14 08:03:02.174] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-09-14 08:03:02.174] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243284 ms (missed cycles : 4). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243284 ms (missed cycles : 4).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844314 ms (missed cycles : 4). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844314 ms (missed cycles : 4).[0m ×2 + 17.06sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 17.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.07sINFOros2_control_node[2026-09-14 08:03:04.440] [info] Received new action goal ×2 + 17.07sINFOros2_control_node[2026-09-14 08:03:04.440] [info] Accepted new action goal ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655926 ms (missed cycles : 4). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655926 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821833 ms (missed cycles : 3). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821833 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340857 ms (missed cycles : 5). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340857 ms (missed cycles : 5).[0m ×2 + 9.03sWARNros2_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 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744430 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744430 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605394 ms (missed cycles : 6). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605394 ms (missed cycles : 6).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4).[0m ×2 + 14.09sERRORobjective_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: 1789373196.83514047 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4).[0m ×2 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789373197.44018555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.01sINFOros2_control_node[2026-09-14 08:06:37.755] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-14 08:06:37.759] [info] Accepted new action goal ×2 + 15.06sWARNros2_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 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 61 errors · 37 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373230.34777069 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.56sINFOobjective_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 + 2.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789373234.17726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789373235.27739525 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282047 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282047 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713929 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713929 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778724 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778724 ms (missed cycles : 2).[0m ×2 + 10.39sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.40sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.40sERRORweb_video_auth_proxy-23process has died [pid 7366, 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 + 10.41sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.41sERRORweb_bridge_auth_proxy-22process has died [pid 7365, 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 + 10.41sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.41sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.42sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.42sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.42sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.43sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.43sINFOvideo_server-21process has finished cleanly [pid 7364] ×2 + 10.43sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.44sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.44sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.45sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.45sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.46sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.46sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.46sINFOcontroller_managerShutdown request received.... + 10.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.46sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.46sINFOvideo_server2026/09/14 08:07:20 INF shutting down gracefully ×2 + 10.46sINFOvideo_server2026/09/14 08:07:20 INF [WebRTC] closing ×2 + 10.46sINFOvideo_server2026/09/14 08:07:20 INF [RTSP] closing ×2 + 10.46sINFOvideo_server2026/09/14 08:07:20 INF waiting for running hooks ×2 + 10.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671628 ms (missed cycles : 2). + 10.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.47sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.47sERRORmove_groupStack trace (most recent call last) in thread 7716: ×2 + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.47sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.47sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.47sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.47sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb863dffa63, in __clone ×2 + 10.47sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb863d72aa3, in ×2 + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671628 ms (missed cycles : 2).[0m ×2 + 10.47sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb864004db3, in ×2 + 10.47sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.47sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb864768b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.47sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.47sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb864396620, in rclcpp::Rate::sleep() ×2 + 10.47sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb8642d8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.47sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb86429a087, in ×2 + 10.47sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb863fd3390, in __cxa_throw ×2 + 10.47sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb863fbda54, in std::terminate() ×2 + 10.47sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb863fd30d9, in ×2 + 10.47sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb863fbdff4, in ×2 + 10.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb863cfe8fe, in abort ×2 + 10.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb863d1b27d, in raise ×2 + 10.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb863d74b2c, in pthread_kill ×2 + 10.48sERRORmove_groupAborted (Signal sent by tkill() 7275 0) ×2 + 10.48sERRORmove_group-9process has died [pid 7275, 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_bca5wnm8 --params-file /tmp/launch_params_8ule_nps --params-file /tmp/launch_params_ww_2oe2z --params-file /tmp/launch_params_hakrvitw --params-file /tmp/launch_params_csrm4tny --params-file /tmp/launch_params_7jyjwz3d']. ×2 + 10.67sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.67sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.46sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7354] ×2 + 11.46sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.48sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7279] ×2 + 11.49sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7278] ×2 + 11.52sINFOwaypoint_manager_node-11process has finished cleanly [pid 7277] ×2 + 11.53sINFOexecute_objective_bridge-17process has finished cleanly [pid 7283] ×2 + 11.53sINFOparameter_manager_node-10process has finished cleanly [pid 7276] ×2 + 11.54sINFOui_teleop_bridge-18process has finished cleanly [pid 7284] ×2 + 11.58sINFOcomponent_container_mt-16process has finished cleanly [pid 7282] ×2 + 11.64sINFOobjective_server_node[0;m[2026-09-14 08:07:21.977] [moveit_pro_license] [info] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.65sINFOobjective_server_node* MoveIt Pro License ×2 + 11.65sINFOobjective_server_node* Application has successfully terminated ×2 + 11.77sINFOobjective_server_node_main-14process has finished cleanly [pid 7280] ×2 + 11.77sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.62sINFOcomponent_container_mt-15process has finished cleanly [pid 7281] ×2 + 12.80sINFOweb_bridge-19process has finished cleanly [pid 7285] ×2 + 12.80sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.10sINFOros2_control_node-1process has finished cleanly [pid 7238] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 59 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 5 iterations (0.00524343 s). ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.202378 ms (missed cycles : 6). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.202378 ms (missed cycles : 6).[0m ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (1.98e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.51sINFOros2_control_node[2026-09-14 08:03:40.984] [info] Received new action goal ×2 + 7.51sINFOros2_control_node[2026-09-14 08:03:40.984] [info] Accepted new action goal ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090697 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090697 ms (missed cycles : 3).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522961 ms (missed cycles : 3). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522961 ms (missed cycles : 3).[0m ×2 + 9.77sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.03sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.03sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.03sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789373023.53917742 seconds ×3 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181257 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181257 ms (missed cycles : 3).[0m ×2 + 11.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247198 ms (missed cycles : 3). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247198 ms (missed cycles : 3).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154842 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154842 ms (missed cycles : 3).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707345 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707345 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789373027.45383620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 14.21sINFOros2_control_node[2026-09-14 08:03:47.685] [info] Received new action goal ×2 + 14.21sINFOros2_control_node[2026-09-14 08:03:47.685] [info] Accepted new action goal ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007723 ms (missed cycles : 4). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007723 ms (missed cycles : 4).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812567 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812567 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071556 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071556 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2164 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.167864 ms (missed cycles : 8). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.167864 ms (missed cycles : 8).[0m ×2 + 7.82sWARNros2_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 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.86sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 1 iterations (0.00499945 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.48sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.50sINFOros2_control_node[2026-09-14 08:06:20.435] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-09-14 08:06:20.435] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985560 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985560 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003732 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003732 ms (missed cycles : 2).[0m ×2 + 10.81sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 12.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.68sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 12.68sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 13.91sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 13.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 13.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 14.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.82sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 16.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 55 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.92sERRORobjective_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: 1789373218.34066725 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.50sINFOobjective_server_nodecaller: ×12 + 1.50sINFOobjective_server_nodetype: 0 ×12 + 1.50sINFOobjective_server_nodename: "" ×12 + 1.50sINFOobjective_server_nodeinstance_id: "" ×12 + 1.50sINFOobjective_server_node ×12 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.32sINFOros2_control_node[2026-09-14 08:07:03.736] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-09-14 08:07:03.736] [info] Accepted new action goal ×2 + 6.32sINFOros2_control_node[2026-09-14 08:07:03.737] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341628 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341628 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619014 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619014 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428842 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428842 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965294 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965294 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2).[0m ×2 + 11.33sWARNros2_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 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 12.93sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 12.93sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 12.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373230.34777069 seconds ×3 + 13.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 15.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.48sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 16.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×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 8.605394 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605394 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sERRORobjective_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: 1789373196.83514047 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789373197.44018555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.96sINFOros2_control_node[2026-09-14 08:06:37.755] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-14 08:06:37.759] [info] Accepted new action goal ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417644 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417644 ms (missed cycles : 3).[0m ×2 + 7.99sINFOros2_control_node[2026-09-14 08:06:41.781] [info] Received new action goal ×2 + 7.99sINFOros2_control_node[2026-09-14 08:06:41.781] [info] Accepted new action goal ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.340852 ms (missed cycles : 6). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.340852 ms (missed cycles : 6).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238936 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238936 ms (missed cycles : 2).[0m ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2).[0m ×2 + 13.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789373207.36643291 seconds ×3 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.22sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789373208.01039696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.36sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Accepted new action goal ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2).[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7).[0m ×2 + 16.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 16.27sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789373049.84337783 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789373050.50775051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789373050.58788252 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789373051.19031811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 4.27sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.14sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.29sINFOobjective_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 + 7.29sINFOobjective_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 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.62sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 2.28sINFOobjective_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 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1789373230.34777069 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.85sINFOobjective_server_nodecaller: ×8 + 2.85sINFOobjective_server_nodetype: 0 ×8 + 2.85sINFOobjective_server_nodename: "" ×8 + 2.85sINFOobjective_server_nodeinstance_id: "" ×8 + 2.85sINFOobjective_server_node ×8 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789373234.17726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2).[0m ×2 + 6.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789373235.27739525 seconds ×3 + 7.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 693 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.24sINFOcomponent_container_mt[2026-09-14 08:02:43.171] [moveit_pro_license] [info] ×2 + 0.24sINFOcomponent_container_mt************************************************* ×4 + 0.24sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.24sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.37sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.37sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.38sWARNros2_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 + 0.38sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.38sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.38sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.38sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.38sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.38sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.38sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.38sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.38sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.38sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.38sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.38sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.38sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.38sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.38sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.38sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.38sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.38sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.38sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.38sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.38sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.38sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.74sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.74sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.74sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.75sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.75sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.76sINFOros2-2process has finished cleanly [pid 7239] ×2 + 0.77sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716182 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716182 ms (missed cycles : 3).[0m ×2 + 0.78sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.88sINFOros2_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 + 0.88sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.88sWARNros2_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 + 1.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.11sINFOros2-3process has finished cleanly [pid 7240] ×2 + 1.15sWARNobjective_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 + 1.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.25sINFOros2_control_node[2026-09-14 08:02:44.185] [info] Controller state will be published at 20 Hz. ×2 + 1.25sINFOros2_control_node[2026-09-14 08:02:44.186] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOros2-8process has finished cleanly [pid 7245] ×2 + 1.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.69sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 1.70sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 1.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.96sINFOros2-7process has finished cleanly [pid 7244] ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 2.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 2.31sINFOros2-4process has finished cleanly [pid 7241] ×2 + 2.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.63sINFOros2-5process has finished cleanly [pid 7242] ×2 + 2.65sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.65sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.65sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.73sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 2.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 2.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.77sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.77sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.80sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.80sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 2.80sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.82sINFOobjective_server_nodecaller: ×14 + 2.82sINFOobjective_server_nodetype: 0 ×14 + 2.82sINFOobjective_server_nodename: "" ×14 + 2.82sINFOobjective_server_nodeinstance_id: "" ×14 + 2.82sINFOobjective_server_node ×14 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.13sINFOros2-6process has finished cleanly [pid 7243] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 4.45sWARNros2_control_nodeCamera render tick took 1.83 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 + 4.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 7.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.07sINFOobjective_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 + 8.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.18sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 20 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789373049.84337783 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789373050.50775051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789373050.58788252 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789373051.19031811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 4.27sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 28 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1789372992.33742380 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 7.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008581 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008581 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373218.34066725 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 0.15sINFOobjective_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 + 0.16sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 0.16sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 0.16sERRORobjective_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: 1789373230.34777069 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.71sINFOobjective_server_nodecaller: ×8 + 0.71sINFOobjective_server_nodetype: 0 ×8 + 0.71sINFOobjective_server_nodename: "" ×8 + 0.71sINFOobjective_server_nodeinstance_id: "" ×8 + 0.71sINFOobjective_server_node ×8 + 0.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.71sINFOobjective_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 + 2.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789373234.17726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_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 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789373235.27739525 seconds ×3 + 5.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 518 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.27sINFOros2-7process has finished cleanly [pid 7244] ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 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 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.62sINFOros2-4process has finished cleanly [pid 7241] ×2 + 0.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.63sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.63sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.64sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.64sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.64sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.13sINFOobjective_server_nodecaller: ×14 + 1.13sINFOobjective_server_nodetype: 0 ×14 + 1.13sINFOobjective_server_nodename: "" ×14 + 1.13sINFOobjective_server_nodeinstance_id: "" ×14 + 1.13sINFOobjective_server_node ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2-6process has finished cleanly [pid 7243] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.83 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: 1789372967.52997923 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 1.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sERRORobjective_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: 1789373218.34066725 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.52sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.02sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 5.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 1.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 1.25sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 1.26sERRORobjective_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: 1789373230.34777069 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.80sINFOobjective_server_nodecaller: ×8 + 1.80sINFOobjective_server_nodetype: 0 ×8 + 1.80sINFOobjective_server_nodename: "" ×8 + 1.80sINFOobjective_server_nodeinstance_id: "" ×8 + 1.80sINFOobjective_server_node ×8 + 1.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 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 13.003809 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.80sINFOobjective_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 + 3.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789373234.17726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862321 ms (missed cycles : 2).[0m ×2 + 5.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789373235.27739525 seconds ×3 + 6.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064477 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023238 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.1s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 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 3.940185 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1789372992.33742380 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940185 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1789372992.33742380 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_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 + 1.95sERRORobjective_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: 1789372992.33742380 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_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 + 1.95sERRORobjective_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: 1789372992.33742380 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_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 + 1.95sERRORobjective_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: 1789372992.33742380 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581743 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614513 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_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 + 1.95sERRORobjective_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: 1789372992.33742380 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005321 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789372993.00006437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789372993.08018041 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789372993.67555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678080 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 3.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-09-14 08:03:13.869] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915227 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698986 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634005 ms (missed cycles : 4).[0m ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015372 ms (missed cycles : 4).[0m ×2 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-09-14 08:03:22.779] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629624 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789373004.07570076 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951855 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.42sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.42sINFOobjective_server_nodecaller: ×4 + 2.42sINFOobjective_server_nodetype: 0 ×4 + 2.42sINFOobjective_server_nodename: "" ×4 + 2.42sINFOobjective_server_nodeinstance_id: "" ×4 + 2.42sINFOobjective_server_node ×4 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789373004.69473386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789373004.77485108 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652410 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789373005.40221620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-14 08:03:25.526] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311338 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822703 ms (missed cycles : 5).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338449 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-14 08:03:33.574] [info] Accepted new action goal ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936727 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107299 ms (missed cycles : 4).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229135 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 2.43sERRORobjective_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: 1789373015.90572262 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789373016.53722954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-14 08:03:36.731] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002858 ms (missed cycles : 3).[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977686 ms (missed cycles : 3).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.941978 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610521 ms (missed cycles : 4).[0m ×2 + 0.06sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Received new action goal ×2 + 0.06sINFOros2_control_node[2026-09-14 08:03:55.251] [info] Accepted new action goal ×2 + 0.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644479 ms (missed cycles : 4).[0m ×2 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068189 ms (missed cycles : 4).[0m ×2 + 2.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.51sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Received new action goal ×2 + 2.51sINFOros2_control_node[2026-09-14 08:03:57.697] [info] Accepted new action goal ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-14 08:03:57.934] [info] Canceling active goal... ×2 + 2.76sERRORobjective_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: 1789373037.94853854 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523044 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.30sINFOobjective_server_nodecaller: ×2 + 3.30sINFOobjective_server_nodetype: 0 ×2 + 3.30sINFOobjective_server_nodename: "" ×2 + 3.30sINFOobjective_server_nodeinstance_id: "" ×2 + 3.30sINFOobjective_server_node ×2 + 3.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789373038.59399366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.60sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-14 08:03:58.787] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002650 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-14 08:04:01.270] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2).[0m ×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 2.977299 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977299 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013593 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789373049.84337783 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599271 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789373050.50775051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789373050.58788252 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789373051.19031811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 4.27sWARNros2_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 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 81 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-14 08:04:11.304] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089736 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263099 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789373053.31044102 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815856 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368666 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789373054.95148134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.75sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:04:15.368] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440112 ms (missed cycles : 3).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.978701 ms (missed cycles : 8).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.263496 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810702 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.542522 ms (missed cycles : 6).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789373108.40791869 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878370 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.41sINFOobjective_server_nodecaller: ×2 + 2.41sINFOobjective_server_nodetype: 0 ×2 + 2.41sINFOobjective_server_nodename: "" ×2 + 2.41sINFOobjective_server_nodeinstance_id: "" ×2 + 2.41sINFOobjective_server_node ×2 + 2.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789373109.00746298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 2.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.64sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-09-14 08:05:09.181] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879730 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041028 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911577 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 · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2050 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×327 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×327 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×654 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×654 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339343 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659966 ms (missed cycles : 2).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055520 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789373175.06277466 seconds ×3 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971294 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789373175.77703643 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-14 08:06:15.971] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806692 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275317 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083771 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-14 08:06:22.741] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224917 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135338 ms (missed cycles : 4).[0m ×2 + 1.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Received new action goal ×2 + 1.87sINFOros2_control_node[2026-09-14 08:06:24.610] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366930 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-14 08:06:25.847] [info] Canceling active goal... ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373185.85164237 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932819 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.72sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.72sINFOobjective_server_nodecaller: ×2 + 3.72sINFOobjective_server_nodetype: 0 ×2 + 3.72sINFOobjective_server_nodename: "" ×2 + 3.72sINFOobjective_server_nodeinstance_id: "" ×2 + 3.72sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789373186.56469584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-14 08:06:26.748] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937404 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458364 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140672 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605394 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605394 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747690 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050206 ms (missed cycles : 4).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sERRORobjective_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: 1789373196.83514047 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265417 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789373197.44018555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.96sINFOros2_control_node[2026-09-14 08:06:37.755] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-14 08:06:37.759] [info] Accepted new action goal ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646272 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723378 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080106 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654275 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058879 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530078 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789373207.36643291 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.91sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789373208.01039696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.05sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-14 08:06:48.154] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979549 ms (missed cycles : 2).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.254084 ms (missed cycles : 7).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 4.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644623 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373218.34066725 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373218.34066725 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373218.34066725 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649253 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789373218.34066725 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sERRORobjective_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: 1789373218.34066725 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.50sINFOobjective_server_nodecaller: ×6 + 1.50sINFOobjective_server_nodetype: 0 ×6 + 1.50sINFOobjective_server_nodename: "" ×6 + 1.50sINFOobjective_server_nodeinstance_id: "" ×6 + 1.50sINFOobjective_server_node ×6 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sERRORobjective_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: 1789373218.34066725 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.50sINFOobjective_server_nodecaller: ×6 + 1.50sINFOobjective_server_nodetype: 0 ×6 + 1.50sINFOobjective_server_nodename: "" ×6 + 1.50sINFOobjective_server_nodeinstance_id: "" ×6 + 1.50sINFOobjective_server_node ×6 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293739 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sERRORobjective_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: 1789373218.34066725 seconds ×3 + 0.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830797 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.50sINFOobjective_server_nodecaller: ×6 + 1.50sINFOobjective_server_nodetype: 0 ×6 + 1.50sINFOobjective_server_nodename: "" ×6 + 1.50sINFOobjective_server_nodeinstance_id: "" ×6 + 1.50sINFOobjective_server_node ×6 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789373218.97148228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789373219.04161549 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745175 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789373219.65822577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789373219.68099976 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789373220.31274104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-14 08:07:00.426] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733812 ms (missed cycles : 6).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.004745 ms (missed cycles : 6).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856886 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 2.28sINFOobjective_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 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1789373230.34777069 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911841 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283929 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448514 ms (missed cycles : 6).[0m ×2 + 2.28sINFOobjective_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 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Got request to cancel active goal. ×2 + 2.29sINFOros2_control_node[2026-09-14 08:07:10.343] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1789373230.34777069 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 2.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789373230.94979572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.003809 ms (missed cycles : 8).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.791849 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789373232.28992891 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789373232.89494395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789373232.89719868 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489565 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789373233.54823303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789373233.57908225 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.8s | 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/2026-09-14-08-02-39-045468-79f512174358-7190 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.63sINFOcontroller_managerupdate rate is 600 Hz + 0.63sINFOcontroller_managerOverruns handling is : enabled + 0.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794921 ms (missed cycles : 3). + 0.78sINFOros2_control_node-1process started with pid [7238] ×2 + 0.78sINFOmove_group-9process started with pid [7275] ×2 + 0.78sINFOparameter_manager_node-10process started with pid [7276] ×2 + 0.78sINFOwaypoint_manager_node-11process started with pid [7277] ×2 + 0.78sINFOmove_joint_resampler_node-12process started with pid [7278] ×2 + 0.78sINFOmove_end_effector_resampler_node-13process started with pid [7279] ×2 + 0.78sINFOobjective_server_node_main-14process started with pid [7280] ×2 + 0.78sINFOcomponent_container_mt-15process started with pid [7281] ×2 + 0.78sINFOcomponent_container_mt-16process started with pid [7282] ×2 + 0.78sINFOexecute_objective_bridge-17process started with pid [7283] ×2 + 0.78sINFOui_teleop_bridge-18process started with pid [7284] ×2 + 0.78sINFOweb_bridge-19process started with pid [7285] ×2 + 0.78sINFOtf2_web_republisher_node-20process started with pid [7354] ×2 + 0.78sINFOvideo_server-21process started with pid [7364] ×2 + 0.78sINFOweb_bridge_auth_proxy-22process started with pid [7365] ×2 + 0.78sINFOweb_video_auth_proxy-23process started with pid [7366] ×2 + 0.78sINFOros2-2process started with pid [7239] ×2 + 0.78sINFOros2-3process started with pid [7240] ×2 + 0.78sINFOros2-4process started with pid [7241] ×2 + 0.78sINFOros2-5process started with pid [7242] ×2 + 0.78sINFOros2-6process started with pid [7243] ×2 + 0.78sINFOros2-7process started with pid [7244] ×2 + 0.78sINFOros2-8process started with pid [7245] ×2 + 0.80sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.80sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.80sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.80sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.80sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.80sWARNros2_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 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794921 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOvideo_server2026/09/14 08:02:40 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF configuration loaded from /tmp/moveit-webrtc-vv_f0xli/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.45sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.66sINFOmove_group[2026-09-14 08:02:41.066] [moveit_pro_license] [info] ×2 + 1.66sINFOmove_group************************************************* ×4 + 1.66sINFOmove_group* MoveIt Pro License ×2 + 1.66sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.90sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOwaypoint_manager_node[2026-09-14 08:02:41.403] [moveit_pro_license] [info] ×2 + 2.00sINFOwaypoint_manager_node************************************************* ×4 + 2.00sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.00sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068315 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068315 ms (missed cycles : 2).[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.16sINFOmove_group ×4 + 2.16sINFOmove_group[92mYou can start planning now![0m ×2 + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.30sINFOobjective_server_node[2026-09-14 08:02:42.708] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.53sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.53sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.76sINFOcomponent_container_mt[2026-09-14 08:02:43.171] [moveit_pro_license] [info] ×2 + 3.76sINFOcomponent_container_mt************************************************* ×4 + 3.76sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.76sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.96sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.96sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 3.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 3.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 3.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.98sINFOforce_torque_sensor_broadcasterconfigure successful + 3.98sINFOros2_control_nodeconfigure successful[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.99sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.27sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.27sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.27sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.27sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 4.27sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 4.28sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.28sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.29sINFOros2-2process has finished cleanly [pid 7239] ×2 + 4.30sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.30sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.30sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.30sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716182 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716182 ms (missed cycles : 3).[0m ×2 + 4.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.41sINFOros2_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 + 4.41sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.41sWARNros2_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 + 4.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.61sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.64sINFOros2-3process has finished cleanly [pid 7240] ×2 + 4.67sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 4.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 4.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.78sINFOros2_control_node[2026-09-14 08:02:44.185] [info] Controller state will be published at 20 Hz. ×2 + 4.78sINFOros2_control_node[2026-09-14 08:02:44.186] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.09sINFOros2-8process has finished cleanly [pid 7245] ×2 + 5.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 5.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 5.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.22sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 5.22sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 5.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 5.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 5.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.49sINFOros2-7process has finished cleanly [pid 7244] ×2 + 5.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 5.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 5.84sINFOros2-4process has finished cleanly [pid 7241] ×2 + 5.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.86sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.16sINFOros2-5process has finished cleanly [pid 7242] ×2 + 6.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 6.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 6.30sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.30sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.30sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.30sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.33sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.33sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 6.33sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.35sINFOobjective_server_nodecaller: ×10 + 6.35sINFOobjective_server_nodetype: 0 ×10 + 6.35sINFOobjective_server_nodename: "" ×10 + 6.35sINFOobjective_server_nodeinstance_id: "" ×10 + 6.35sINFOobjective_server_node ×10 + 6.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.66sINFOros2-6process has finished cleanly [pid 7243] ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 7.97sWARNros2_control_nodeCamera render tick took 1.83 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 + 8.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 8.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 10.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 10.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7243] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.30sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.30sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.30sINFOobjective_server_nodecaller: ×12 + 0.30sINFOobjective_server_nodetype: 0 ×12 + 0.30sINFOobjective_server_nodename: "" ×12 + 0.30sINFOobjective_server_nodeinstance_id: "" ×12 + 0.30sINFOobjective_server_node ×12 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 1.32sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.06sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 7.27sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.56sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.14sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.28sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.28sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.33sINFOobjective_server_nodecaller: ×14 + 0.33sINFOobjective_server_nodetype: 0 ×14 + 0.33sINFOobjective_server_nodename: "" ×14 + 0.33sINFOobjective_server_nodeinstance_id: "" ×14 + 0.33sINFOobjective_server_node ×14 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.64sINFOros2-6process has finished cleanly [pid 7243] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 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 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 188 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/2026-09-14-08-02-39-045468-79f512174358-7190 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.63sINFOcontroller_managerupdate rate is 600 Hz + 0.63sINFOcontroller_managerOverruns handling is : enabled + 0.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794921 ms (missed cycles : 3). + 0.78sINFOros2_control_node-1process started with pid [7238] ×2 + 0.78sINFOmove_group-9process started with pid [7275] ×2 + 0.78sINFOparameter_manager_node-10process started with pid [7276] ×2 + 0.78sINFOwaypoint_manager_node-11process started with pid [7277] ×2 + 0.78sINFOmove_joint_resampler_node-12process started with pid [7278] ×2 + 0.78sINFOmove_end_effector_resampler_node-13process started with pid [7279] ×2 + 0.78sINFOobjective_server_node_main-14process started with pid [7280] ×2 + 0.78sINFOcomponent_container_mt-15process started with pid [7281] ×2 + 0.78sINFOcomponent_container_mt-16process started with pid [7282] ×2 + 0.78sINFOexecute_objective_bridge-17process started with pid [7283] ×2 + 0.78sINFOui_teleop_bridge-18process started with pid [7284] ×2 + 0.78sINFOweb_bridge-19process started with pid [7285] ×2 + 0.78sINFOtf2_web_republisher_node-20process started with pid [7354] ×2 + 0.78sINFOvideo_server-21process started with pid [7364] ×2 + 0.78sINFOweb_bridge_auth_proxy-22process started with pid [7365] ×2 + 0.78sINFOweb_video_auth_proxy-23process started with pid [7366] ×2 + 0.78sINFOros2-2process started with pid [7239] ×2 + 0.78sINFOros2-3process started with pid [7240] ×2 + 0.78sINFOros2-4process started with pid [7241] ×2 + 0.78sINFOros2-5process started with pid [7242] ×2 + 0.78sINFOros2-6process started with pid [7243] ×2 + 0.78sINFOros2-7process started with pid [7244] ×2 + 0.78sINFOros2-8process started with pid [7245] ×2 + 0.80sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.80sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.80sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.80sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.80sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.80sWARNros2_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 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794921 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.88sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOvideo_server2026/09/14 08:02:40 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF configuration loaded from /tmp/moveit-webrtc-vv_f0xli/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/14 08:02:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.45sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.66sINFOmove_group[2026-09-14 08:02:41.066] [moveit_pro_license] [info] ×2 + 1.66sINFOmove_group************************************************* ×4 + 1.66sINFOmove_group* MoveIt Pro License ×2 + 1.66sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.90sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.90sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.99sINFOwaypoint_manager_node[2026-09-14 08:02:41.403] [moveit_pro_license] [info] ×2 + 2.00sINFOwaypoint_manager_node************************************************* ×4 + 2.00sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.00sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068315 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068315 ms (missed cycles : 2).[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.16sINFOmove_group ×4 + 2.16sINFOmove_group[92mYou can start planning now![0m ×2 + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.30sINFOobjective_server_node[2026-09-14 08:02:42.708] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.53sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.53sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 518 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.27sINFOros2-7process has finished cleanly [pid 7244] ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 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 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.62sINFOros2-4process has finished cleanly [pid 7241] ×2 + 0.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.63sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.63sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.64sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.64sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.64sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.13sINFOobjective_server_nodecaller: ×14 + 1.13sINFOobjective_server_nodetype: 0 ×14 + 1.13sINFOobjective_server_nodename: "" ×14 + 1.13sINFOobjective_server_nodeinstance_id: "" ×14 + 1.13sINFOobjective_server_node ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2-6process has finished cleanly [pid 7243] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.83 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: 1789372967.52997923 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 518 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.27sINFOros2-7process has finished cleanly [pid 7244] ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 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 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.62sINFOros2-4process has finished cleanly [pid 7241] ×2 + 0.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.63sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.63sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.64sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.64sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.64sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.13sINFOobjective_server_nodecaller: ×14 + 1.13sINFOobjective_server_nodetype: 0 ×14 + 1.13sINFOobjective_server_nodename: "" ×14 + 1.13sINFOobjective_server_nodeinstance_id: "" ×14 + 1.13sINFOobjective_server_node ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2-6process has finished cleanly [pid 7243] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.83 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: 1789372967.52997923 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 518 info |
+ 0.00sINFOros2_control_node[2026-09-14 08:02:44.630] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-09-14 08:02:44.631] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825035 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.27sINFOros2-7process has finished cleanly [pid 7244] ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[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: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 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 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.62sINFOros2-4process has finished cleanly [pid 7241] ×2 + 0.63sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.63sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.63sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.63sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.63sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.64sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.64sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.64sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.64sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 1.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 1.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.10sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.13sINFOobjective_server_nodecaller: ×14 + 1.13sINFOobjective_server_nodetype: 0 ×14 + 1.13sINFOobjective_server_nodename: "" ×14 + 1.13sINFOobjective_server_nodeinstance_id: "" ×14 + 1.13sINFOobjective_server_node ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.43sINFOros2-6process has finished cleanly [pid 7243] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 2.75sWARNros2_control_nodeCamera render tick took 1.83 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: 1789372967.52997923 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 414 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.14sINFOros2-5process has finished cleanly [pid 7242] ×2 + 0.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic + 0.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fb28qc2l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3oydayve --params-file /tmp/launch_params_wsiw9nic [0m ×2 + 0.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.28sINFOros2_control_node[2026-09-14 08:02:45.706] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.28sINFOros2_control_node[2026-09-14 08:02:45.707] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.735] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.735] [info] Controller state will be published at 50 Hz. ×2 + 0.31sINFOros2_control_node[2026-09-14 08:02:45.740] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.33sINFOobjective_server_nodecaller: ×14 + 0.33sINFOobjective_server_nodetype: 0 ×14 + 0.33sINFOobjective_server_nodename: "" ×14 + 0.33sINFOobjective_server_nodeinstance_id: "" ×14 + 0.33sINFOobjective_server_node ×14 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789372965.81321454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789372965.82341194 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.64sINFOros2-6process has finished cleanly [pid 7243] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7243] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836264 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.30sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.30sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.30sINFOobjective_server_nodecaller: ×12 + 0.30sINFOobjective_server_nodetype: 0 ×12 + 0.30sINFOobjective_server_nodename: "" ×12 + 0.30sINFOobjective_server_nodeinstance_id: "" ×12 + 0.30sINFOobjective_server_node ×12 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789372966.41983080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 1.32sWARNros2_control_nodeCamera render tick took 1.83 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 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.06sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.875569 ms (missed cycles : 8).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789372967.52997923 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789372968.14777899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789372968.20803738 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984619 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789372968.86311316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789372968.88322854 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789372969.46953297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789372969.62007618 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665004 ms (missed cycles : 4).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789372970.34156013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789372970.39168668 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214163 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789372970.99430013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_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 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.3684e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-14 08:02:51.120] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147501 ms (missed cycles : 2).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907578 ms (missed cycles : 2).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-14 08:02:53.629] [info] Accepted new action goal ×2 | ||||