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 · 19584 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670053 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789374529.17263865 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOobjective_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: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789374529.80026913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.18sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162228 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162228 ms (missed cycles : 2).[0m ×2 + 6.67sINFOjoint_trajectory_controllerReceived new action goal ×3220 + 6.67sINFOjoint_trajectory_controllerAccepted new action goal ×3220 + 6.67sINFOros2_control_nodeReceived new action goal[0m ×6440 + 6.67sINFOros2_control_nodeAccepted new action goal[0m ×6440 + 7.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907471 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907471 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860297 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860297 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865399 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865399 ms (missed cycles : 2).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532160 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532160 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734031 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734031 ms (missed cycles : 2).[0m ×2 + 11.52sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.52sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.52sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.52sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069054 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069054 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230434 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230434 ms (missed cycles : 2).[0m ×2 + 14.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×8 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904767 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904767 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916648 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916648 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054715 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054715 ms (missed cycles : 2).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847653 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847653 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733880 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733880 ms (missed cycles : 2).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287465 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287465 ms (missed cycles : 2).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494121 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494121 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747100 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747100 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581601 ms (missed cycles : 3). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581601 ms (missed cycles : 3).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721008 ms (missed cycles : 3). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721008 ms (missed cycles : 3).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378180 ms (missed cycles : 4). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378180 ms (missed cycles : 4).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054963 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054963 ms (missed cycles : 2).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744466 ms (missed cycles : 2). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744466 ms (missed cycles : 2).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319368 ms (missed cycles : 5). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.319368 ms (missed cycles : 5).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679586 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679586 ms (missed cycles : 2).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506971 ms (missed cycles : 3). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506971 ms (missed cycles : 3).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817030 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817030 ms (missed cycles : 2).[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138363 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138363 ms (missed cycles : 2).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193939 ms (missed cycles : 2). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193939 ms (missed cycles : 2).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297148 ms (missed cycles : 3). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297148 ms (missed cycles : 3).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682453 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682453 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.532490 ms (missed cycles : 7). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.532490 ms (missed cycles : 7).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982212 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982212 ms (missed cycles : 2).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656699 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656699 ms (missed cycles : 2).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321915 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321915 ms (missed cycles : 2).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231730 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231730 ms (missed cycles : 2).[0m ×2 + 42.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858208 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858208 ms (missed cycles : 2).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244051 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244051 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663854 ms (missed cycles : 3). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663854 ms (missed cycles : 3).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178082 ms (missed cycles : 2). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178082 ms (missed cycles : 2).[0m ×2 + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702239 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702239 ms (missed cycles : 2).[0m ×2 + 46.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374573.64951611 seconds ×3 + 46.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.45sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789374574.28757262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.61sINFOobjective_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 + 47.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386082 ms (missed cycles : 3). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386082 ms (missed cycles : 3).[0m ×2 + 47.73sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 47.74sINFOros2_control_node[2026-09-14 08:29:34.481] [info] Received new action goal ×2 + 47.74sINFOros2_control_node[2026-09-14 08:29:34.481] [info] Accepted new action goal ×2 + 47.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 48.20sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630710 ms (missed cycles : 3). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630710 ms (missed cycles : 3).[0m ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011473 ms (missed cycles : 2). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011473 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 152 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_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 ×8 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 7.06sINFOros2_control_node[2026-09-14 08:27:58.912] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-14 08:27:58.912] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942325 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942325 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486880 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486880 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238093 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238093 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-14 08:28:02.235] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-14 08:28:02.235] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674703 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674703 ms (missed cycles : 3).[0m ×2 + 11.88sWARNros2_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 ×6 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131605 ms (missed cycles : 4). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131605 ms (missed cycles : 4).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816636 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816636 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 13.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.40sINFOros2_control_node[2026-09-14 08:28:05.258] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-14 08:28:05.258] [info] Accepted new action goal ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308319 ms (missed cycles : 5). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308319 ms (missed cycles : 5).[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122920 ms (missed cycles : 4). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122920 ms (missed cycles : 4).[0m ×2 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998710 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998710 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713057 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713057 ms (missed cycles : 2).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440228 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440228 ms (missed cycles : 3).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794916 ms (missed cycles : 5). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794916 ms (missed cycles : 5).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243871 ms (missed cycles : 5). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243871 ms (missed cycles : 5).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729830 ms (missed cycles : 4). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729830 ms (missed cycles : 4).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558421 ms (missed cycles : 3). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558421 ms (missed cycles : 3).[0m ×2 + 23.19sINFOobjective_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 + 23.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.19sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532011 ms (missed cycles : 2). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532011 ms (missed cycles : 2).[0m ×2 + 24.08sINFOros2_control_node[2026-09-14 08:28:15.939] [info] Received new action goal ×2 + 24.08sINFOros2_control_node[2026-09-14 08:28:15.939] [info] Accepted new action goal ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661580 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661580 ms (missed cycles : 3).[0m ×2 + 25.25sINFOobjective_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 + 25.26sINFOobjective_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 + 25.54sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 25.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.59sINFOros2_control_node[2026-09-14 08:28:17.443] [info] Received new action goal ×2 + 25.59sINFOros2_control_node[2026-09-14 08:28:17.443] [info] Accepted new action goal ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592676 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592676 ms (missed cycles : 3).[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076410 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076410 ms (missed cycles : 2).[0m ×2 + 27.72sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 27.73sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.74sINFOros2_control_node[2026-09-14 08:28:19.593] [info] Received new action goal ×2 + 27.74sINFOros2_control_node[2026-09-14 08:28:19.593] [info] Accepted new action goal ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002993 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002993 ms (missed cycles : 2).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724007 ms (missed cycles : 2). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724007 ms (missed cycles : 2).[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086336 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086336 ms (missed cycles : 2).[0m ×2 + 30.88sINFOros2_control_node[2026-09-14 08:28:22.738] [info] Received new action goal ×2 + 30.88sINFOros2_control_node[2026-09-14 08:28:22.738] [info] Accepted new action goal ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739178 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739178 ms (missed cycles : 2).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111144 ms (missed cycles : 4). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111144 ms (missed cycles : 4).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845862 ms (missed cycles : 2). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845862 ms (missed cycles : 2).[0m ×2 + 33.49sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 33.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.54sINFOros2_control_node[2026-09-14 08:28:25.392] [info] Received new action goal ×2 + 33.54sINFOros2_control_node[2026-09-14 08:28:25.392] [info] Accepted new action goal ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390940 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390940 ms (missed cycles : 3).[0m ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014567 ms (missed cycles : 5). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014567 ms (missed cycles : 5).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976085 ms (missed cycles : 4). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976085 ms (missed cycles : 4).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445584 ms (missed cycles : 6). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.445584 ms (missed cycles : 6).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268175 ms (missed cycles : 3). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268175 ms (missed cycles : 3).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848062 ms (missed cycles : 5). + 39.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848062 ms (missed cycles : 5).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120409 ms (missed cycles : 2). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120409 ms (missed cycles : 2).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287655 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287655 ms (missed cycles : 3).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569216 ms (missed cycles : 4). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569216 ms (missed cycles : 4).[0m ×2 + 43.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842168 ms (missed cycles : 3). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842168 ms (missed cycles : 3).[0m ×2 + 44.29sINFOros2_control_node[2026-09-14 08:28:36.140] [info] Received new action goal ×2 + 44.29sINFOros2_control_node[2026-09-14 08:28:36.140] [info] Accepted new action goal ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540779 ms (missed cycles : 3). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540779 ms (missed cycles : 3).[0m ×2 + 45.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789374517.29695868 seconds ×3 + 46.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.05sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614418 ms (missed cycles : 2). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614418 ms (missed cycles : 2).[0m ×2 + 46.23sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789374518.09060383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566645 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566645 ms (missed cycles : 3).[0m ×2 + 47.51sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 47.53sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.56sINFOros2_control_node[2026-09-14 08:28:39.412] [info] Received new action goal ×2 + 47.56sINFOros2_control_node[2026-09-14 08:28:39.412] [info] Accepted new action goal ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938461 ms (missed cycles : 2). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938461 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 13656 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2243 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2243 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4486 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4486 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663854 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663854 ms (missed cycles : 3).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178082 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178082 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702239 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702239 ms (missed cycles : 2).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374573.64951611 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789374574.28757262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386082 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386082 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-09-14 08:29:34.481] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-14 08:29:34.481] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630710 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630710 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.29sINFOobjective_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 + 5.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011473 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011473 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890075 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890075 ms (missed cycles : 2).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502095 ms (missed cycles : 4). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502095 ms (missed cycles : 4).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585838 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585838 ms (missed cycles : 2).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166167 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166167 ms (missed cycles : 2).[0m ×2 + 10.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053598 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053598 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696207 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696207 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289352 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289352 ms (missed cycles : 3).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933715 ms (missed cycles : 5). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933715 ms (missed cycles : 5).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752104 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752104 ms (missed cycles : 2).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938632 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938632 ms (missed cycles : 2).[0m ×2 + 17.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516370 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516370 ms (missed cycles : 4).[0m ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272831 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272831 ms (missed cycles : 2).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713492 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713492 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773493 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773493 ms (missed cycles : 2).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791057 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791057 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 25.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 25.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.24sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.25sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 26.25sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 1 iterations (0.00469907 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.40sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Accepted new action goal ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7).[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 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1789374458.49223638 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.77sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.77sINFOobjective_server_nodecaller: ×6 + 3.77sINFOobjective_server_nodetype: 0 ×6 + 3.77sINFOobjective_server_nodename: "" ×6 + 3.77sINFOobjective_server_nodeinstance_id: "" ×6 + 3.77sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789374459.26731896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Accepted new action goal ×2 + 4.16sWARNros2_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 ×4 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4).[0m ×2 + 6.55sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Accepted new action goal ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420396 ms (missed cycles : 5). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420396 ms (missed cycles : 5).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421047 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421047 ms (missed cycles : 3).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160411 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160411 ms (missed cycles : 3).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689021 ms (missed cycles : 4). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689021 ms (missed cycles : 4).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775053 ms (missed cycles : 4). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775053 ms (missed cycles : 4).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789374470.51693320 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.74sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3).[0m ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789374471.18678856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789374471.25691056 seconds ×3 + 16.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.57sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 16.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.59sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 16.59sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 18.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569216 ms (missed cycles : 4).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.37sINFOobjective_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 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.38sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.38sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.38sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842168 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842168 ms (missed cycles : 3).[0m ×2 + 1.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.31sINFOros2_control_node[2026-09-14 08:28:36.140] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-09-14 08:28:36.140] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540779 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540779 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789374517.29695868 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614418 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614418 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789374518.09060383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566645 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566645 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.58sINFOros2_control_node[2026-09-14 08:28:39.412] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-14 08:28:39.412] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938461 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938461 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009982 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009982 ms (missed cycles : 4).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919711 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919711 ms (missed cycles : 2).[0m ×2 + 8.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360039 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360039 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487124 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487124 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 10.72sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.73sINFOros2_control_node[2026-09-14 08:28:45.567] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-09-14 08:28:45.568] [info] Accepted new action goal ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395322 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395322 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670053 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670053 ms (missed cycles : 2).[0m ×2 + 12.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789374529.17263865 seconds ×3 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789374529.80026913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.09sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2).[0m ×2 + 16.36sINFOobjective_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 + 16.36sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 59 errors · 39 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 08:30:51.451] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-14 08:30:51.451] [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: 1789374651.45599580 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.08sINFOobjective_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 + 2.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.78sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374655.98165536 seconds ×3 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552515 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552515 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607167 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607167 ms (missed cycles : 5).[0m ×2 + 7.94sWARNros2_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 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286262 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286262 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905764 ms (missed cycles : 6). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905764 ms (missed cycles : 6).[0m ×2 + 10.11sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.12sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORweb_video_auth_proxy-23process has died [pid 7377, 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 + 10.13sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.13sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge_auth_proxy-22process has died [pid 7376, 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 + 10.14sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.14sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.15sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.15sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.15sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.16sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.16sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.17sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.17sINFOvideo_server-21process has finished cleanly [pid 7374] ×2 + 10.17sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.18sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.18sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.19sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.19sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.19sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.20sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.20sINFOcontroller_managerShutdown request received.... + 10.20sINFOvideo_server2026/09/14 08:31:01 INF shutting down gracefully ×2 + 10.20sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.20sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.20sINFOvideo_server2026/09/14 08:31:01 INF [WebRTC] closing ×2 + 10.20sINFOvideo_server2026/09/14 08:31:01 INF [RTSP] closing ×2 + 10.20sINFOvideo_server2026/09/14 08:31:01 INF waiting for running hooks ×2 + 10.20sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.20sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.20sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.20sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.20sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.20sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.20sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.20sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.20sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.20sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.20sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.20sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.20sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.20sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.20sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.20sERRORmove_groupStack trace (most recent call last) in thread 7739: ×2 + 10.20sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.20sINFOcontroller_managerShutting down the controller manager. + 10.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.21sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.21sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.21sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.21sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.21sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.21sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.21sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff7e49dfa63, in __clone ×2 + 10.21sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff7e4952aa3, in ×2 + 10.21sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff7e4be4db3, in ×2 + 10.21sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.21sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.21sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ff7e5348b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.21sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff7e4f76620, in rclcpp::Rate::sleep() ×2 + 10.21sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff7e4eb8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.21sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff7e4e7a087, in ×2 + 10.21sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff7e4bb3390, in __cxa_throw ×2 + 10.21sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff7e4b9da54, in std::terminate() ×2 + 10.21sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff7e4bb30d9, in ×2 + 10.21sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff7e4b9dff4, in ×2 + 10.21sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff7e48de8fe, in abort ×2 + 10.21sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff7e48fb27d, in raise ×2 + 10.21sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff7e4954b2c, in pthread_kill ×2 + 10.21sERRORmove_groupAborted (Signal sent by tkill() 7286 0) ×2 + 10.21sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.21sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.21sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.21sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.21sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.21sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.22sERRORmove_group-9process has died [pid 7286, 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_h5k_2fn7 --params-file /tmp/launch_params_m7g7gylt --params-file /tmp/launch_params_p_5igac2 --params-file /tmp/launch_params_i56efqoj --params-file /tmp/launch_params_nhver4t1 --params-file /tmp/launch_params_b5ekun24']. ×2 + 10.41sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.41sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.41sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.19sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7367] ×2 + 11.19sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.22sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7290] ×2 + 11.23sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7289] ×2 + 11.27sINFOwaypoint_manager_node-11process has finished cleanly [pid 7288] ×2 + 11.28sINFOparameter_manager_node-10process has finished cleanly [pid 7287] ×2 + 11.28sINFOui_teleop_bridge-18process has finished cleanly [pid 7295] ×2 + 11.29sINFOexecute_objective_bridge-17process has finished cleanly [pid 7294] ×2 + 11.33sINFOcomponent_container_mt-16process has finished cleanly [pid 7293] ×2 + 11.36sINFOobjective_server_node[0;m[2026-09-14 08:31:02.805] [moveit_pro_license] [info] ×2 + 11.36sINFOobjective_server_node************************************************* ×4 + 11.36sINFOobjective_server_node* MoveIt Pro License ×2 + 11.36sINFOobjective_server_node* Application has successfully terminated ×2 + 11.54sINFOobjective_server_node_main-14process has finished cleanly [pid 7291] ×2 + 11.54sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.37sINFOcomponent_container_mt-15process has finished cleanly [pid 7292] ×2 + 12.53sINFOweb_bridge-19process has finished cleanly [pid 7296] ×2 + 12.53sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.86sINFOros2_control_node-1process has finished cleanly [pid 7249] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 209 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789374444.48214674 seconds ×3 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736166 ms (missed cycles : 2). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736166 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871764 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871764 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928236 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928236 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789374448.06834126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.82sINFOros2_control_node[2026-09-14 08:27:28.262] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-14 08:27:28.262] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957833 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957833 ms (missed cycles : 4).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916921 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916921 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556583 ms (missed cycles : 6). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556583 ms (missed cycles : 6).[0m ×2 + 7.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.15sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390135 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390135 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 5 iterations (0.00652501 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 8.30sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.42sINFOros2_control_node[2026-09-14 08:27:32.865] [info] Received new action goal ×2 + 8.42sINFOros2_control_node[2026-09-14 08:27:32.865] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146489 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146489 ms (missed cycles : 3).[0m ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125072 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125072 ms (missed cycles : 4).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568925 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568925 ms (missed cycles : 3).[0m ×2 + 10.50sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.96sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 11.11sINFOobjective_server_nodeFound path in 1 iterations (0.00469907 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.35sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Accepted new action goal ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3).[0m ×2 + 11.79sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Accepted new action goal ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7).[0m ×2 + 14.00sINFOobjective_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 + 14.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.05sERRORobjective_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: 1789374458.49223638 seconds ×3 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789374459.26731896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2).[0m ×2 + 15.01sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Accepted new action goal ×2 + 15.11sWARNros2_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 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4).[0m ×2 + 17.50sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Received new action goal ×2 + 17.50sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2214 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334103 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334103 ms (missed cycles : 2).[0m ×2 + 8.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×4 + 8.34sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.35sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 1 iterations (0.00426754 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.68sINFOros2_control_node[2026-09-14 08:30:01.347] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-09-14 08:30:01.347] [info] Accepted new action goal ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548861 ms (missed cycles : 5). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548861 ms (missed cycles : 5).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213790 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213790 ms (missed cycles : 3).[0m ×2 + 10.98sINFOros2_control_node[2026-09-14 08:30:03.640] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-09-14 08:30:03.640] [info] Accepted new action goal ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 12.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.83sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 12.83sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 13.67sWARNros2_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 + 14.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 14.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 14.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 15.14sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 17.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 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 · 54 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904555 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904555 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004847 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004847 ms (missed cycles : 5).[0m ×2 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447120 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447120 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 2.10sINFOros2_control_node[2026-09-14 08:26:42.683] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-09-14 08:26:42.683] [info] Accepted new action goal ×2 + 2.45sINFOobjective_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 + 2.46sINFOros2_control_node[2026-09-14 08:26:43.049] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-09-14 08:26:43.049] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1789374403.06552792 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.02sINFOobjective_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: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.02sINFOobjective_server_nodecaller: ×6 + 3.02sINFOobjective_server_nodetype: 0 ×6 + 3.02sINFOobjective_server_nodename: "" ×6 + 3.02sINFOobjective_server_nodeinstance_id: "" ×6 + 3.02sINFOobjective_server_node ×6 + 3.09sWARNros2_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 ×4 + 3.10sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789374403.68328118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.32sINFOros2_control_node[2026-09-14 08:26:43.907] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-14 08:26:43.907] [info] Accepted new action goal ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252714 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252714 ms (missed cycles : 3).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697591 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697591 ms (missed cycles : 3).[0m ×2 + 5.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.271883 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.271883 ms (missed cycles : 7).[0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.61sINFOros2_control_node[2026-09-14 08:26:46.198] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-09-14 08:26:46.198] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423583 ms (missed cycles : 6). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423583 ms (missed cycles : 6).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999395 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999395 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146736 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146736 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984262 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984262 ms (missed cycles : 2).[0m ×2 + 9.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.86sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×4 + 10.15sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 10.29sINFOobjective_server_nodeFound path in 1 iterations (0.00314321 s). ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 10.55sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Accepted new action goal ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 13.03sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 13.03sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 13.46sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 13.46sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1789374414.06323004 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 14.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.10sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.09sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 15.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789374628.45127344 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.47sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.47sINFOobjective_server_nodecaller: ×8 + 3.47sINFOobjective_server_nodetype: 0 ×8 + 3.47sINFOobjective_server_nodename: "" ×8 + 3.47sINFOobjective_server_nodeinstance_id: "" ×8 + 3.47sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789374629.10262060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739773 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739773 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110212 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110212 ms (missed cycles : 3).[0m ×2 + 9.38sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589643 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589643 ms (missed cycles : 2).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sERRORobjective_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: 1789374639.44288874 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 14.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.53sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 15.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.11sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 15.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sWARNros2_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 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 15.95sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.97sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 15.97sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314319 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314319 ms (missed cycles : 2).[0m ×2 + 7.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711997 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711997 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681524 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681524 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801900 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801900 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3).[0m ×2 + 13.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 14.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sERRORobjective_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: 1789374617.94758344 seconds ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789374618.54222727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 14.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.97sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Received new action goal ×2 + 14.97sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2).[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 + 7.31sWARNros2_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 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×4 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828970 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828970 ms (missed cycles : 5).[0m ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 5 iterations (0.00523437 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.54sINFOros2_control_node[2026-09-14 08:27:21.924] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-09-14 08:27:21.924] [info] Accepted new action goal ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392129 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392129 ms (missed cycles : 2).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586706 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586706 ms (missed cycles : 2).[0m ×2 + 10.80sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954005 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954005 ms (missed cycles : 2).[0m ×2 + 11.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.07sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789374444.48214674 seconds ×3 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736166 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736166 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871764 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871764 ms (missed cycles : 2).[0m ×2 + 13.31sWARNros2_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 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928236 ms (missed cycles : 5). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928236 ms (missed cycles : 5).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789374448.06834126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOros2_control_node[2026-09-14 08:27:28.262] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-14 08:27:28.262] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957833 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957833 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916921 ms (missed cycles : 4). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916921 ms (missed cycles : 4).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556583 ms (missed cycles : 6). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556583 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.22sINFOros2_control_node[2026-09-14 08:27:09.791] [info] Received new action goal ×2 + 7.22sINFOros2_control_node[2026-09-14 08:27:09.791] [info] Accepted new action goal ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321518 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321518 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991503 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991503 ms (missed cycles : 2).[0m ×2 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 9.56sINFOros2_control_node[2026-09-14 08:27:12.126] [info] Received new action goal ×2 + 9.56sINFOros2_control_node[2026-09-14 08:27:12.126] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432581 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432581 ms (missed cycles : 3).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 11.91sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 12.04sWARNros2_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 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 13.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374436.45764065 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 14.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.72sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 3.62sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 5.55sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.15sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668221 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668221 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924797 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924797 ms (missed cycles : 4).[0m ×2 + 8.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159712 ms (missed cycles : 4). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159712 ms (missed cycles : 4).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 9.96sINFOros2_control_node[2026-09-14 08:26:39.343] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-14 08:26:39.343] [info] Accepted new action goal ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.125843 ms (missed cycles : 7). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.125843 ms (missed cycles : 7).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904555 ms (missed cycles : 4). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904555 ms (missed cycles : 4).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004847 ms (missed cycles : 5). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004847 ms (missed cycles : 5).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447120 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447120 ms (missed cycles : 3).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-14 08:26:42.683] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-14 08:26:42.683] [info] Accepted new action goal ×2 + 13.65sINFOobjective_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 + 13.66sINFOros2_control_node[2026-09-14 08:26:43.049] [info] Got request to cancel active goal. ×2 + 13.66sINFOros2_control_node[2026-09-14 08:26:43.049] [info] Canceling active goal... ×2 + 13.68sERRORobjective_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: 1789374403.06552792 seconds ×3 + 13.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.22sINFOobjective_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: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789374403.68328118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 14.52sINFOros2_control_node[2026-09-14 08:26:43.907] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-09-14 08:26:43.907] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252714 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252714 ms (missed cycles : 3).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697591 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697591 ms (missed cycles : 3).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.271883 ms (missed cycles : 7). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.271883 ms (missed cycles : 7).[0m ×2 + 16.79sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 16.80sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.81sINFOros2_control_node[2026-09-14 08:26:46.198] [info] Received new action goal ×2 + 16.81sINFOros2_control_node[2026-09-14 08:26:46.198] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 0.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.00sERRORobjective_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: 1789374639.44288874 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.57sINFOobjective_server_nodecaller: ×14 + 1.57sINFOobjective_server_nodetype: 0 ×14 + 1.57sINFOobjective_server_nodename: "" ×14 + 1.57sINFOobjective_server_nodeinstance_id: "" ×14 + 1.57sINFOobjective_server_node ×14 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.96sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 3.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.41sINFOros2_control_node[2026-09-14 08:30:44.855] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-09-14 08:30:44.855] [info] Accepted new action goal ×2 + 6.41sINFOros2_control_node[2026-09-14 08:30:44.855] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849427 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849427 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677259 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677259 ms (missed cycles : 2).[0m ×2 + 8.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.270109 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.270109 ms (missed cycles : 5).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 13.01sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 13.01sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 13.01sERRORobjective_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: 1789374651.45599580 seconds ×3 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 13.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sWARNros2_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 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 15.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.07sINFOobjective_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 + 15.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 15.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.72sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 16.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801900 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801900 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3).[0m ×2 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_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 + 3.19sERRORobjective_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: 1789374617.94758344 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789374618.54222727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.11sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464463 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464463 ms (missed cycles : 4).[0m ×2 + 8.11sINFOros2_control_node[2026-09-14 08:30:22.866] [info] Received new action goal ×2 + 8.11sINFOros2_control_node[2026-09-14 08:30:22.866] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071427 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071427 ms (missed cycles : 3).[0m ×2 + 8.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378921 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378921 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4).[0m ×2 + 13.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789374628.45127344 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789374629.10262060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.48sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5).[0m ×2 + 15.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2).[0m ×2 + 16.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.1s | 3 errors · 54 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 1.48sINFOobjective_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 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374414.06323004 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.13sINFOobjective_server_nodecaller: ×8 + 2.13sINFOobjective_server_nodetype: 0 ×8 + 2.13sINFOobjective_server_nodename: "" ×8 + 2.13sINFOobjective_server_nodeinstance_id: "" ×8 + 2.13sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (7.17e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.72sINFOobjective_server_nodeFound path in 1 iterations (0.00457221 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 6.94sINFOros2_control_node[2026-09-14 08:26:59.490] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-09-14 08:26:59.491] [info] Accepted new action goal ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797635 ms (missed cycles : 4). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797635 ms (missed cycles : 4).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075462 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075462 ms (missed cycles : 2).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774894 ms (missed cycles : 3). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774894 ms (missed cycles : 3).[0m ×2 + 9.24sINFOros2_control_node[2026-09-14 08:27:01.793] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-09-14 08:27:01.793] [info] Accepted new action goal ×2 + 10.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 11.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.10sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 11.10sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 12.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 12.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 13.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.68sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 13.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 13.86sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 13.86sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 16.06sWARNros2_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 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789374470.51693320 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.05sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.05sINFOobjective_server_nodecaller: ×6 + 2.05sINFOobjective_server_nodetype: 0 ×6 + 2.05sINFOobjective_server_nodename: "" ×6 + 2.05sINFOobjective_server_nodeinstance_id: "" ×6 + 2.05sINFOobjective_server_node ×6 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789374471.18678856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789374471.25691056 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.89sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 2.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.90sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 2.90sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.63sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 6.96sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 8.63sWARNros2_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 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 691 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 + 0.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.11sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.11sWARNros2_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 + 0.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.11sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.11sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.11sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.11sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.11sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.11sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.11sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.11sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.11sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.21sINFOcomponent_container_mt[2026-09-14 08:26:25.016] [moveit_pro_license] [info] ×2 + 0.21sINFOcomponent_container_mt************************************************* ×4 + 0.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906934 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906934 ms (missed cycles : 2).[0m ×2 + 0.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.40sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.42sINFOros2_control_node[2026-09-14 08:26:25.221] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.42sINFOros2_control_node[2026-09-14 08:26:25.221] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.45sINFOros2_control_node[2026-09-14 08:26:25.250] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.45sINFOros2_control_node[2026-09-14 08:26:25.250] [info] Controller state will be published at 50 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-14 08:26:25.256] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.64sINFOros2_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 + 0.64sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.64sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.72sINFOros2-6process has finished cleanly [pid 7254] ×2 + 0.75sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.75sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOforce_torque_sensor_broadcasterconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.76sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.76sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 1.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 1.11sINFOros2-2process has finished cleanly [pid 7250] ×2 + 1.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.13sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.13sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594016 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594016 ms (missed cycles : 4).[0m ×2 + 1.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 1.47sINFOros2-5process has finished cleanly [pid 7253] ×2 + 1.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2-4process has finished cleanly [pid 7252] ×2 + 1.88sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 1.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 1.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.95sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 1.95sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.23sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.23sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.27sINFOros2-8process has finished cleanly [pid 7256] ×2 + 2.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 2.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 2.36sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.36sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.39sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 2.39sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 2.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 2.71sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.71sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.71sINFOros2-7process has finished cleanly [pid 7255] ×2 + 2.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 2.74sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.74sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×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: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.09sINFOros2-3process has finished cleanly [pid 7251] ×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 + 3.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 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: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 6.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 8.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sINFOobjective_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 + 8.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 8.20sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1789374651.45599580 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374655.98165536 seconds ×3 + 7.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 131 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Accepted new action goal ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789374414.06323004 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789374470.51693320 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789374471.18678856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789374471.25691056 seconds ×3 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 0.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 0.97sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374651.45599580 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.52sINFOobjective_server_nodecaller: ×8 + 1.52sINFOobjective_server_nodetype: 0 ×8 + 1.52sINFOobjective_server_nodename: "" ×8 + 1.52sINFOobjective_server_nodeinstance_id: "" ×8 + 1.52sINFOobjective_server_node ×8 + 1.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374655.98165536 seconds ×3 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552515 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552515 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sERRORobjective_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: 1789374639.44288874 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7256] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.04sINFOobjective_server_nodecaller: ×14 + 1.04sINFOobjective_server_nodetype: 0 ×14 + 1.04sINFOobjective_server_nodename: "" ×14 + 1.04sINFOobjective_server_nodeinstance_id: "" ×14 + 1.04sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_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 + 2.22sERRORobjective_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: 1789374639.44288874 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.79sINFOobjective_server_nodecaller: ×6 + 2.79sINFOobjective_server_nodetype: 0 ×6 + 2.79sINFOobjective_server_nodename: "" ×6 + 2.79sINFOobjective_server_nodeinstance_id: "" ×6 + 2.79sINFOobjective_server_node ×6 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.32sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 0.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 0.97sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 0.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374651.45599580 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 1.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.52sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.52sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.52sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.52sINFOobjective_server_nodecaller: ×8 + 1.52sINFOobjective_server_nodetype: 0 ×8 + 1.52sINFOobjective_server_nodename: "" ×8 + 1.52sINFOobjective_server_nodeinstance_id: "" ×8 + 1.52sINFOobjective_server_node ×8 + 1.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.04sINFOobjective_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 + 3.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740160 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789374655.98165536 seconds ×3 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2104 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Accepted new action goal ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789374414.06323004 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-09-14 08:26:51.139] [info] Accepted new action goal ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811004 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1789374414.06323004 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 1.48sINFOobjective_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 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374414.06323004 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 1.48sINFOobjective_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 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374414.06323004 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 1.48sINFOobjective_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 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374414.06323004 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139484 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093351 ms (missed cycles : 3).[0m ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-14 08:26:53.612] [info] Accepted new action goal ×2 + 1.48sINFOobjective_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 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Got request to cancel active goal. ×2 + 1.49sINFOros2_control_node[2026-09-14 08:26:54.045] [info] Canceling active goal... ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789374414.06323004 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006746 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789374414.76718187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789374414.86730003 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789374415.47418046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-14 08:26:55.678] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790650 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.478597 ms (missed cycles : 6).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215319 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931173 ms (missed cycles : 3).[0m ×2 + 0.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-14 08:27:03.657] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977103 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.112115 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789374424.96433139 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789374425.59027267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789374425.64038920 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556051 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789374426.29425335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-14 08:27:06.418] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067762 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701355 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059072 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578532 ms (missed cycles : 4).[0m ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-14 08:27:14.476] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101632 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-14 08:27:16.444] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1789374436.45764065 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288881 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789374437.09710097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-14 08:27:17.291] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573649 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675624 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692606 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 1 iterations (0.00469907 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-14 08:27:35.795] [info] Accepted new action goal ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366089 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-14 08:27:36.227] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221234 ms (missed cycles : 2).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512075 ms (missed cycles : 7).[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 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1789374458.49223638 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789374459.26731896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616989 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-14 08:27:39.451] [info] Accepted new action goal ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963762 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157108 ms (missed cycles : 4).[0m ×2 + 6.55sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-14 08:27:41.945] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162576 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746493 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580200 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789374470.51693320 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230895 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789374471.18678856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789374471.25691056 seconds ×3 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789374471.85577893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-14 08:27:51.979] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868518 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846135 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789374473.98590350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025712 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.70sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.70sINFOobjective_server_nodecaller: ×2 + 3.70sINFOobjective_server_nodetype: 0 ×2 + 3.70sINFOobjective_server_nodename: "" ×2 + 3.70sINFOobjective_server_nodeinstance_id: "" ×2 + 3.70sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789374475.62055159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-14 08:27:56.037] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207963 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182426 ms (missed cycles : 4).[0m ×2 + 5.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[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 2.670053 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670053 ms (missed cycles : 2).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081302 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250470 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789374529.17263865 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOobjective_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: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789374529.80026913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.18sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-14 08:28:49.924] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549078 ms (missed cycles : 2).[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946846 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130766 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 · 2104 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2104 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2104 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2104 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×672 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×672 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184773 ms (missed cycles : 3).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262641 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233408 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789374595.82111645 seconds ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783429 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789374596.52904582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-14 08:29:56.743] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881248 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019183 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335124 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786918 ms (missed cycles : 2).[0m ×2 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004481 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-14 08:30:05.492] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811185 ms (missed cycles : 5).[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789374606.78924918 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211062 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789374607.61714983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-14 08:30:07.801] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860018 ms (missed cycles : 5).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613522 ms (missed cycles : 6).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.409146 ms (missed cycles : 5).[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 3.801900 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801900 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976234 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606385 ms (missed cycles : 3).[0m ×2 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_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 + 3.19sERRORobjective_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: 1789374617.94758344 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785942 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789374618.54222727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.11sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-14 08:30:18.859] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564884 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857523 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578848 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537652 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947298 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535009 ms (missed cycles : 4).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789374628.45127344 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009624 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789374629.10262060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.67sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-09-14 08:30:29.236] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003876 ms (missed cycles : 5).[0m ×2 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945695 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931695 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sERRORobjective_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: 1789374639.44288874 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sERRORobjective_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: 1789374639.44288874 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sERRORobjective_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: 1789374639.44288874 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755866 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335430 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sERRORobjective_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: 1789374639.44288874 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.83sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.83sINFOobjective_server_nodecaller: ×6 + 3.83sINFOobjective_server_nodetype: 0 ×6 + 3.83sINFOobjective_server_nodename: "" ×6 + 3.83sINFOobjective_server_nodeinstance_id: "" ×6 + 3.83sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.21sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 5.35sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[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 7.643961 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 0.99sINFOobjective_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 + 1.00sERRORobjective_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: 1789374639.44288874 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.96sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 3.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2).[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 7.643961 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 0.99sINFOobjective_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 + 1.00sERRORobjective_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: 1789374639.44288874 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.96sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 3.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2).[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 7.643961 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643961 ms (missed cycles : 5).[0m ×2 + 0.99sINFOobjective_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 + 1.00sERRORobjective_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: 1789374639.44288874 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053440 ms (missed cycles : 5).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.57sINFOobjective_server_nodecaller: ×6 + 1.57sINFOobjective_server_nodetype: 0 ×6 + 1.57sINFOobjective_server_nodename: "" ×6 + 1.57sINFOobjective_server_nodeinstance_id: "" ×6 + 1.57sINFOobjective_server_node ×6 + 1.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789374640.06851912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789374640.13865018 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789374640.73428130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789374640.75759482 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227429 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.96sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789374641.40099192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 3.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Received new action goal ×2 + 3.09sINFOros2_control_node[2026-09-14 08:30:41.538] [info] Accepted new action goal ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073384 ms (missed cycles : 5).[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699152 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962299 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1789374651.45599580 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863498 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992118 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103807 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-14 08:30:51.451] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1789374651.45599580 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223058 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789374652.05851984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125554 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789374652.91934371 seconds ×3 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789374653.51957393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789374653.52176666 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539611 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789374654.21897054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789374654.23974395 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106376 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789374654.84153795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 42 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-14-08-26-20-669157-d22a989bdd59-7201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_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. + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402400 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7249] ×2 + 0.79sINFOmove_group-9process started with pid [7286] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7287] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7288] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7289] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7290] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7291] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7292] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7293] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7294] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7295] ×2 + 0.79sINFOweb_bridge-19process started with pid [7296] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7367] ×2 + 0.79sINFOvideo_server-21process started with pid [7374] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7376] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7377] ×2 + 0.80sINFOros2-2process started with pid [7250] ×2 + 0.80sINFOros2-3process started with pid [7251] ×2 + 0.80sINFOros2-4process started with pid [7252] ×2 + 0.80sINFOros2-5process started with pid [7253] ×2 + 0.80sINFOros2-6process started with pid [7254] ×2 + 0.80sINFOros2-7process started with pid [7255] ×2 + 0.80sINFOros2-8process started with pid [7256] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402400 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF configuration loaded from /tmp/moveit-webrtc-tls28o41/mediamtx.yml ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOwaypoint_manager_node[2026-09-14 08:26:23.003] [moveit_pro_license] [info] ×2 + 1.96sINFOwaypoint_manager_node************************************************* ×4 + 1.96sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.96sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[2026-09-14 08:26:23.013] [moveit_pro_license] [info] ×2 + 1.97sINFOmove_group************************************************* ×4 + 1.97sINFOmove_group* MoveIt Pro License ×2 + 1.97sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.06sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.08sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413478 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413478 ms (missed cycles : 3).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.52sINFOmove_group ×4 + 2.52sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.20sINFOobjective_server_node[2026-09-14 08:26:24.245] [moveit_pro_license] [info] ×2 + 3.20sINFOobjective_server_node************************************************* ×4 + 3.20sINFOobjective_server_node* MoveIt Pro License ×2 + 3.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.40sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.76sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.87sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.87sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.87sWARNros2_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 + 3.87sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.87sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.87sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.87sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.87sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.87sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.87sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.87sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.87sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.87sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.87sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.87sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.88sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.88sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.88sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.88sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.88sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.88sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.88sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.88sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.97sINFOcomponent_container_mt[2026-09-14 08:26:25.016] [moveit_pro_license] [info] ×2 + 3.97sINFOcomponent_container_mt************************************************* ×4 + 3.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906934 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906934 ms (missed cycles : 2).[0m ×2 + 4.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.03sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.16sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 4.16sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 4.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.18sINFOros2_control_node[2026-09-14 08:26:25.221] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.18sINFOros2_control_node[2026-09-14 08:26:25.221] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.21sINFOros2_control_node[2026-09-14 08:26:25.250] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.21sINFOros2_control_node[2026-09-14 08:26:25.250] [info] Controller state will be published at 50 Hz. ×2 + 4.21sINFOros2_control_node[2026-09-14 08:26:25.256] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.31sWARNobjective_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 + 4.40sINFOros2_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 + 4.40sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.40sWARNros2_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 + 4.48sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.48sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.48sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.48sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.48sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 4.48sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 4.48sINFOros2-6process has finished cleanly [pid 7254] ×2 + 4.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.52sINFOforce_torque_sensor_broadcasterconfigure successful + 4.52sINFOros2_control_nodeconfigure successful[0m ×2 + 4.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.52sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 4.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 4.87sINFOros2-2process has finished cleanly [pid 7250] ×2 + 4.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.90sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.90sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594016 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594016 ms (missed cycles : 4).[0m ×2 + 5.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 5.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 5.23sINFOros2-5process has finished cleanly [pid 7253] ×2 + 5.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.59sINFOros2-4process has finished cleanly [pid 7252] ×2 + 5.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 5.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 5.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.68sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.68sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.72sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 5.72sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.03sINFOros2-8process has finished cleanly [pid 7256] ×2 + 6.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 6.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 6.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.16sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 6.16sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 6.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 6.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.47sINFOros2-7process has finished cleanly [pid 7255] ×2 + 6.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 6.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.58sINFOobjective_server_nodecaller: ×10 + 6.58sINFOobjective_server_nodetype: 0 ×10 + 6.58sINFOobjective_server_nodename: "" ×10 + 6.58sINFOobjective_server_nodeinstance_id: "" ×10 + 6.58sINFOobjective_server_node ×10 + 6.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 6.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.85sINFOros2-3process has finished cleanly [pid 7251] ×2 + 7.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 8.07sWARNros2_control_nodeCamera render tick took 1.88 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 + 8.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 8.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 9.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 10.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 345 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7251] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 7.05sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 427 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.50sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.50sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.50sINFOobjective_server_nodecaller: ×14 + 0.50sINFOobjective_server_nodetype: 0 ×14 + 0.50sINFOobjective_server_nodename: "" ×14 + 0.50sINFOobjective_server_nodeinstance_id: "" ×14 + 0.50sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.76sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 1.98sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 5.88sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-14-08-26-20-669157-d22a989bdd59-7201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_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. + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402400 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7249] ×2 + 0.79sINFOmove_group-9process started with pid [7286] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7287] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7288] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7289] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7290] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7291] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7292] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7293] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7294] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7295] ×2 + 0.79sINFOweb_bridge-19process started with pid [7296] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7367] ×2 + 0.79sINFOvideo_server-21process started with pid [7374] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7376] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7377] ×2 + 0.80sINFOros2-2process started with pid [7250] ×2 + 0.80sINFOros2-3process started with pid [7251] ×2 + 0.80sINFOros2-4process started with pid [7252] ×2 + 0.80sINFOros2-5process started with pid [7253] ×2 + 0.80sINFOros2-6process started with pid [7254] ×2 + 0.80sINFOros2-7process started with pid [7255] ×2 + 0.80sINFOros2-8process started with pid [7256] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402400 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF configuration loaded from /tmp/moveit-webrtc-tls28o41/mediamtx.yml ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.99sINFOvideo_server2026/09/14 08:26:22 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.06sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOwaypoint_manager_node[2026-09-14 08:26:23.003] [moveit_pro_license] [info] ×2 + 1.96sINFOwaypoint_manager_node************************************************* ×4 + 1.96sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.96sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[2026-09-14 08:26:23.013] [moveit_pro_license] [info] ×2 + 1.97sINFOmove_group************************************************* ×4 + 1.97sINFOmove_group* MoveIt Pro License ×2 + 1.97sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.06sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.08sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.08sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413478 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413478 ms (missed cycles : 3).[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.52sINFOmove_group ×4 + 2.52sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.20sINFOobjective_server_node[2026-09-14 08:26:24.245] [moveit_pro_license] [info] ×2 + 3.20sINFOobjective_server_node************************************************* ×4 + 3.20sINFOobjective_server_node* MoveIt Pro License ×2 + 3.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOobjective_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 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.40sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.40sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7256] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.04sINFOobjective_server_nodecaller: ×14 + 1.04sINFOobjective_server_nodetype: 0 ×14 + 1.04sINFOobjective_server_nodename: "" ×14 + 1.04sINFOobjective_server_nodeinstance_id: "" ×14 + 1.04sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7256] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.04sINFOobjective_server_nodecaller: ×14 + 1.04sINFOobjective_server_nodetype: 0 ×14 + 1.04sINFOobjective_server_nodename: "" ×14 + 1.04sINFOobjective_server_nodeinstance_id: "" ×14 + 1.04sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 490 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.758] [info] Controller state will be published at 20 Hz. ×2 + 0.18sINFOros2_control_node[2026-09-14 08:26:26.759] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.49sINFOros2-8process has finished cleanly [pid 7256] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.92sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.92sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.96sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.04sINFOobjective_server_nodecaller: ×14 + 1.04sINFOobjective_server_nodetype: 0 ×14 + 1.04sINFOobjective_server_nodename: "" ×14 + 1.04sINFOobjective_server_nodeinstance_id: "" ×14 + 1.04sINFOobjective_server_node ×14 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 2.53sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 427 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-09-14 08:26:27.198] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-14 08:26:27.198] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 + 0.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_04a2svv_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_j7kx884w --params-file /tmp/launch_params_d342mix1 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7255] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156598 ms (missed cycles : 3).[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.50sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.50sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.50sINFOobjective_server_nodecaller: ×14 + 0.50sINFOobjective_server_nodetype: 0 ×14 + 0.50sINFOobjective_server_nodename: "" ×14 + 0.50sINFOobjective_server_nodeinstance_id: "" ×14 + 0.50sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789374387.67982936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789374387.69003987 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.76sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 1.98sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 5.88sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7251] ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.33sINFOobjective_server_nodecaller: ×12 + 0.33sINFOobjective_server_nodetype: 0 ×12 + 0.33sINFOobjective_server_nodename: "" ×12 + 0.33sINFOobjective_server_nodeinstance_id: "" ×12 + 0.33sINFOobjective_server_node ×12 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789374388.27516174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 5.12sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 28 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668221 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668221 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-09-14 08:26:35.533] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715961 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodeCamera render tick took 1.88 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 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789374389.38532472 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196552 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.17sINFOobjective_server_nodecaller: ×10 + 1.17sINFOobjective_server_nodetype: 0 ×10 + 1.17sINFOobjective_server_nodename: "" ×10 + 1.18sINFOobjective_server_nodeinstance_id: "" ×10 + 1.18sINFOobjective_server_node ×10 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789374390.00084591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789374390.06105447 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789374390.72560787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789374390.74572897 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834884 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789374391.33496213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789374391.48550153 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329806 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789374392.19518661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789374392.26531291 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789374392.87885928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.2017e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288741 ms (missed cycles : 3).[0m ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-14 08:26:33.009] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128706 ms (missed cycles : 3).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251365 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||