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 · 19626 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789479942.84145761 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789479943.45222211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.65sINFOros2_control_node[2026-09-15 13:45:43.615] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-15 13:45:43.616] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_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 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862546 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862546 ms (missed cycles : 2).[0m ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal ×3227 + 7.11sINFOjoint_trajectory_controllerAccepted new action goal ×3227 + 7.11sINFOros2_control_nodeReceived new action goal[0m ×6454 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×6454 + 7.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756288 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756288 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157766 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157766 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710643 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710643 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951694 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951694 ms (missed cycles : 2).[0m ×2 + 12.03sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.03sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.03sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461394 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461394 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685562 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685562 ms (missed cycles : 2).[0m ×2 + 13.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751652 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751652 ms (missed cycles : 2).[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678730 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678730 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732450 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732450 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678380 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678380 ms (missed cycles : 2).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106288 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106288 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.018108 ms (missed cycles : 6). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.018108 ms (missed cycles : 6).[0m ×2 + 20.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963264 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963264 ms (missed cycles : 2).[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759235 ms (missed cycles : 2). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759235 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118894 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118894 ms (missed cycles : 2).[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709728 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709728 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685466 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685466 ms (missed cycles : 2).[0m ×2 + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820984 ms (missed cycles : 2). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820984 ms (missed cycles : 2).[0m ×2 + 26.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667526 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667526 ms (missed cycles : 2).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741954 ms (missed cycles : 2). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741954 ms (missed cycles : 2).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135530 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135530 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208169 ms (missed cycles : 2). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208169 ms (missed cycles : 2).[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890115 ms (missed cycles : 2). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890115 ms (missed cycles : 2).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910081 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910081 ms (missed cycles : 2).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715302 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715302 ms (missed cycles : 2).[0m ×2 + 33.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673458 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673458 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225934 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225934 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414531 ms (missed cycles : 5). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414531 ms (missed cycles : 5).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684605 ms (missed cycles : 2). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684605 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275090 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275090 ms (missed cycles : 2).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390154 ms (missed cycles : 2). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390154 ms (missed cycles : 2).[0m ×2 + 39.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056441 ms (missed cycles : 5). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.056441 ms (missed cycles : 5).[0m ×2 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750199 ms (missed cycles : 2). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750199 ms (missed cycles : 2).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724114 ms (missed cycles : 2). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724114 ms (missed cycles : 2).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154851 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154851 ms (missed cycles : 2).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904498 ms (missed cycles : 2). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904498 ms (missed cycles : 2).[0m ×2 + 45.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670121 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670121 ms (missed cycles : 2).[0m ×2 + 45.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508130 ms (missed cycles : 4). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508130 ms (missed cycles : 4).[0m ×2 + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966508 ms (missed cycles : 2). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966508 ms (missed cycles : 2).[0m ×2 + 47.31sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789479987.35183144 seconds ×3 + 47.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.93sINFOobjective_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: ""
+ 47.93sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789479987.99813914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.17sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 48.19sINFOros2_control_node[2026-09-15 13:46:28.152] [info] Received new action goal ×2 + 48.19sINFOros2_control_node[2026-09-15 13:46:28.152] [info] Accepted new action goal ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135710 ms (missed cycles : 2). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135710 ms (missed cycles : 2).[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906692 ms (missed cycles : 3). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906692 ms (missed cycles : 3).[0m ×2 + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219898 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219898 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.4s | 156 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_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 ×4 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 7.05sINFOros2_control_node[2026-09-15 13:44:52.593] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-09-15 13:44:52.593] [info] Accepted new action goal ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899520 ms (missed cycles : 6). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899520 ms (missed cycles : 6).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574038 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574038 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435352 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435352 ms (missed cycles : 2).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-15 13:44:55.902] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-15 13:44:55.902] [info] Accepted new action goal ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.680641 ms (missed cycles : 6). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.680641 ms (missed cycles : 6).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401642 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401642 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871304 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871304 ms (missed cycles : 2).[0m ×2 + 13.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.40sINFOros2_control_node[2026-09-15 13:44:58.936] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-15 13:44:58.936] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376170 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376170 ms (missed cycles : 3).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726402 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726402 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372409 ms (missed cycles : 7). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.372409 ms (missed cycles : 7).[0m ×2 + 16.36sINFOobjective_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 + 16.36sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686053 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686053 ms (missed cycles : 2).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719605 ms (missed cycles : 4). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719605 ms (missed cycles : 4).[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785579 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785579 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640123 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640123 ms (missed cycles : 2).[0m ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883392 ms (missed cycles : 3). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883392 ms (missed cycles : 3).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379796 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379796 ms (missed cycles : 3).[0m ×2 + 23.20sINFOobjective_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 + 23.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.20sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.20sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.20sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090796 ms (missed cycles : 5). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090796 ms (missed cycles : 5).[0m ×2 + 24.12sINFOros2_control_node[2026-09-15 13:45:09.663] [info] Received new action goal ×2 + 24.12sINFOros2_control_node[2026-09-15 13:45:09.663] [info] Accepted new action goal ×2 + 24.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554090 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554090 ms (missed cycles : 3).[0m ×2 + 25.29sINFOobjective_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 + 25.30sINFOobjective_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 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751369 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751369 ms (missed cycles : 2).[0m ×2 + 25.58sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 25.58sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.63sINFOros2_control_node[2026-09-15 13:45:11.166] [info] Received new action goal ×2 + 25.63sINFOros2_control_node[2026-09-15 13:45:11.166] [info] Accepted new action goal ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420146 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420146 ms (missed cycles : 2).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920965 ms (missed cycles : 3). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920965 ms (missed cycles : 3).[0m ×2 + 27.76sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 27.77sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.78sINFOros2_control_node[2026-09-15 13:45:13.323] [info] Received new action goal ×2 + 27.78sINFOros2_control_node[2026-09-15 13:45:13.323] [info] Accepted new action goal ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462213 ms (missed cycles : 4). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462213 ms (missed cycles : 4).[0m ×2 + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455869 ms (missed cycles : 4). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455869 ms (missed cycles : 4).[0m ×2 + 30.34sWARNros2_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 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618810 ms (missed cycles : 4). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618810 ms (missed cycles : 4).[0m ×2 + 30.94sINFOros2_control_node[2026-09-15 13:45:16.483] [info] Received new action goal ×2 + 30.94sINFOros2_control_node[2026-09-15 13:45:16.483] [info] Accepted new action goal ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589361 ms (missed cycles : 3). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589361 ms (missed cycles : 3).[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715279 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715279 ms (missed cycles : 2).[0m ×2 + 33.54sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 33.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.59sINFOros2_control_node[2026-09-15 13:45:19.127] [info] Received new action goal ×2 + 33.59sINFOros2_control_node[2026-09-15 13:45:19.127] [info] Accepted new action goal ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991254 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991254 ms (missed cycles : 3).[0m ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590471 ms (missed cycles : 7). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590471 ms (missed cycles : 7).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393460 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393460 ms (missed cycles : 3).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725276 ms (missed cycles : 2). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725276 ms (missed cycles : 2).[0m ×2 + 38.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869943 ms (missed cycles : 2). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869943 ms (missed cycles : 2).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966310 ms (missed cycles : 2). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966310 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175364 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175364 ms (missed cycles : 2).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775357 ms (missed cycles : 2). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775357 ms (missed cycles : 2).[0m ×2 + 41.73sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936432 ms (missed cycles : 3). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936432 ms (missed cycles : 3).[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443397 ms (missed cycles : 5). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443397 ms (missed cycles : 5).[0m ×2 + 44.33sINFOros2_control_node[2026-09-15 13:45:29.872] [info] Received new action goal ×2 + 44.33sINFOros2_control_node[2026-09-15 13:45:29.873] [info] Accepted new action goal ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718151 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718151 ms (missed cycles : 2).[0m ×2 + 45.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789479931.02911615 seconds ×3 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266080 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266080 ms (missed cycles : 2).[0m ×2 + 46.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.09sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.29sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789479931.82886457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325766 ms (missed cycles : 2). + 47.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325766 ms (missed cycles : 2).[0m ×2 + 47.52sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 47.53sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.54sINFOros2_control_node[2026-09-15 13:45:33.083] [info] Received new action goal ×2 + 47.54sINFOros2_control_node[2026-09-15 13:45:33.083] [info] Accepted new action goal ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849409 ms (missed cycles : 3). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849409 ms (missed cycles : 3).[0m ×2 + 48.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670077 ms (missed cycles : 2). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670077 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13530 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2222 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2222 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4444 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4444 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670121 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670121 ms (missed cycles : 2).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508130 ms (missed cycles : 4). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508130 ms (missed cycles : 4).[0m ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966508 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966508 ms (missed cycles : 2).[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789479987.35183144 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789479987.99813914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.00sINFOros2_control_node[2026-09-15 13:46:28.152] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-15 13:46:28.152] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135710 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135710 ms (missed cycles : 2).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906692 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906692 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.33sINFOobjective_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 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219898 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219898 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761282 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761282 ms (missed cycles : 2).[0m ×2 + 8.11sWARNros2_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 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692531 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692531 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840531 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840531 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683574 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683574 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892601 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892601 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300557 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300557 ms (missed cycles : 2).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182124 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182124 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396984 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396984 ms (missed cycles : 2).[0m ×2 + 14.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753346 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753346 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692384 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692384 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822323 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822323 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736283 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736283 ms (missed cycles : 3).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677764 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677764 ms (missed cycles : 2).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756400 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756400 ms (missed cycles : 2).[0m ×2 + 20.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669799 ms (missed cycles : 2). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669799 ms (missed cycles : 2).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 25.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.96sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.25sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.26sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 26.26sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 26.76sWARNros2_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 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 1 iterations (0.00318612 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.50sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.59sERRORobjective_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: 1789479872.11509013 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3). + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.31sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.31sINFOobjective_server_nodecaller: ×6 + 3.31sINFOobjective_server_nodetype: 0 ×6 + 3.31sINFOobjective_server_nodename: "" ×6 + 3.31sINFOobjective_server_nodeinstance_id: "" ×6 + 3.31sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789479872.94424391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.61sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4).[0m ×2 + 6.12sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017624 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017624 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493208 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493208 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931269 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931269 ms (missed cycles : 5).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601309 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601309 ms (missed cycles : 2).[0m ×2 + 11.31sWARNros2_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 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094298 ms (missed cycles : 6). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094298 ms (missed cycles : 6).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3).[0m ×2 + 14.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789479884.20623684 seconds ×3 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789479884.87484121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789479884.93497467 seconds ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4).[0m ×2 + 15.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.97sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.13sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 16.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.14sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 16.14sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 17.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 18.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936432 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936432 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_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 + 0.96sINFOobjective_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 + 0.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.97sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.97sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.97sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.97sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443397 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443397 ms (missed cycles : 5).[0m ×2 + 1.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.90sINFOros2_control_node[2026-09-15 13:45:29.872] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-09-15 13:45:29.873] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718151 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718151 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789479931.02911615 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266080 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266080 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789479931.82886457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325766 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325766 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.11sINFOros2_control_node[2026-09-15 13:45:33.083] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-15 13:45:33.083] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849409 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849409 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670077 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670077 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652094 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652094 ms (missed cycles : 2).[0m ×2 + 8.80sINFOobjective_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 + 8.81sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708485 ms (missed cycles : 6). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708485 ms (missed cycles : 6).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635909 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635909 ms (missed cycles : 2).[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155900 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155900 ms (missed cycles : 2).[0m ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.26sINFOros2_control_node[2026-09-15 13:45:39.236] [info] Received new action goal ×2 + 11.26sINFOros2_control_node[2026-09-15 13:45:39.236] [info] Accepted new action goal ×2 + 11.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3).[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789479942.84145761 seconds ×3 + 15.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789479943.45222211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 15.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.64sINFOros2_control_node[2026-09-15 13:45:43.615] [info] Received new action goal ×2 + 15.64sINFOros2_control_node[2026-09-15 13:45:43.616] [info] Accepted new action goal ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2).[0m ×2 + 16.92sINFOobjective_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 + 16.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.4s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_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 + 1.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.14sINFOobjective_server_nodecaller: ×8 + 2.14sINFOobjective_server_nodetype: 0 ×8 + 2.14sINFOobjective_server_nodename: "" ×8 + 2.14sINFOobjective_server_nodeinstance_id: "" ×8 + 2.14sINFOobjective_server_node ×8 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 3.27sWARNros2_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478146 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478146 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600258 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600258 ms (missed cycles : 3).[0m ×2 + 7.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 1 iterations (0.00358328 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.25sINFOros2_control_node[2026-09-15 13:43:52.843] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-09-15 13:43:52.843] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966706 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966706 ms (missed cycles : 5).[0m ×2 + 9.30sWARNros2_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 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214628 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214628 ms (missed cycles : 4).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010053 ms (missed cycles : 6). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.010053 ms (missed cycles : 6).[0m ×2 + 10.56sINFOros2_control_node[2026-09-15 13:43:55.146] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-09-15 13:43:55.146] [info] Accepted new action goal ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 12.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.35sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 12.35sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 13.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 14.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 15.09sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.12sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 15.15sWARNros2_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 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sERRORobjective_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: 1789480053.00993848 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.26sINFOobjective_server_nodecaller: ×14 + 2.26sINFOobjective_server_nodetype: 0 ×14 + 2.26sINFOobjective_server_nodename: "" ×14 + 2.26sINFOobjective_server_nodeinstance_id: "" ×14 + 2.26sINFOobjective_server_node ×14 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.12sINFOros2_control_node[2026-09-15 13:47:38.456] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-09-15 13:47:38.456] [info] Accepted new action goal ×2 + 7.13sINFOros2_control_node[2026-09-15 13:47:38.457] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906701 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906701 ms (missed cycles : 2).[0m ×2 + 7.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916716 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916716 ms (missed cycles : 3).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816261 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816261 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961492 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961492 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2).[0m ×2 + 13.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 14.18sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 14.18sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 14.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789480065.51804948 seconds ×3 + 14.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 16.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.46sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.52sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 17.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 17.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 57 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.78sINFOobjective_server_nodecaller: ×6 + 2.78sINFOobjective_server_nodetype: 0 ×6 + 2.78sINFOobjective_server_nodename: "" ×6 + 2.78sINFOobjective_server_nodeinstance_id: "" ×6 + 2.78sINFOobjective_server_node ×6 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 7.06sINFOros2_control_node[2026-09-15 13:44:03.051] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-15 13:44:03.051] [info] Accepted new action goal ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626556 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626556 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426789 ms (missed cycles : 5). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426789 ms (missed cycles : 5).[0m ×2 + 9.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×4 + 9.40sINFOros2_control_node[2026-09-15 13:44:05.389] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-09-15 13:44:05.389] [info] Accepted new action goal ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743560 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743560 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464372 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464372 ms (missed cycles : 3).[0m ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 11.75sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sERRORobjective_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: 1789479850.07484531 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.94sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 14.99sWARNros2_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 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137700 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137700 ms (missed cycles : 5).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789479858.99470210 seconds ×3 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229292 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229292 ms (missed cycles : 2).[0m ×2 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718565 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718565 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×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 `Grasp Pose Using Yaml` starting at time: 1789479861.75155187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.28sINFOros2_control_node[2026-09-15 13:44:21.976] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-15 13:44:21.977] [info] Accepted new action goal ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.672113 ms (missed cycles : 6). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.672113 ms (missed cycles : 6).[0m ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964483 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964483 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503294 ms (missed cycles : 4). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503294 ms (missed cycles : 4).[0m ×2 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091428 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091428 ms (missed cycles : 4).[0m ×2 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 5 iterations (0.00528171 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.42sINFOros2_control_node[2026-09-15 13:44:27.108] [info] Received new action goal ×2 + 8.42sINFOros2_control_node[2026-09-15 13:44:27.109] [info] Accepted new action goal ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.429916 ms (missed cycles : 7). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.429916 ms (missed cycles : 7).[0m ×2 + 8.58sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998745 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998745 ms (missed cycles : 3).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3).[0m ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 11.09sINFOobjective_server_nodeFound path in 1 iterations (0.00318612 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.32sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Received new action goal ×2 + 11.32sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Accepted new action goal ×2 + 11.76sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Accepted new action goal ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_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 + 13.42sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.42sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.42sERRORobjective_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: 1789479872.11509013 seconds ×3 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3). + 14.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789479872.94424391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 14.43sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2).[0m ×2 + 16.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4).[0m ×2 + 16.94sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Received new action goal ×2 + 16.94sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Accepted new action goal ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794638 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794638 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956575 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956575 ms (missed cycles : 2).[0m ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 5 iterations (0.00487698 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.79sINFOros2_control_node[2026-09-15 13:44:16.430] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-09-15 13:44:16.430] [info] Accepted new action goal ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111977 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111977 ms (missed cycles : 2).[0m ×2 + 9.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258594 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258594 ms (missed cycles : 2).[0m ×2 + 11.06sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137700 ms (missed cycles : 5). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137700 ms (missed cycles : 5).[0m ×2 + 11.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.32sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789479858.99470210 seconds ×3 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229292 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229292 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718565 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718565 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.11sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789479861.75155187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 14.34sINFOros2_control_node[2026-09-15 13:44:21.976] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-09-15 13:44:21.977] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.672113 ms (missed cycles : 6). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.672113 ms (missed cycles : 6).[0m ×2 + 15.28sWARNros2_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 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964483 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964483 ms (missed cycles : 3).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503294 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.503294 ms (missed cycles : 4).[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 1.673793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673793 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789480042.02970099 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.42sINFOobjective_server_nodecaller: ×8 + 3.42sINFOobjective_server_nodetype: 0 ×8 + 3.42sINFOobjective_server_nodename: "" ×8 + 3.42sINFOobjective_server_nodeinstance_id: "" ×8 + 3.42sINFOobjective_server_node ×8 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789480042.68963575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370599 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370599 ms (missed cycles : 2).[0m ×2 + 7.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228861 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228861 ms (missed cycles : 5).[0m ×2 + 8.08sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290353 ms (missed cycles : 5). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290353 ms (missed cycles : 5).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479210 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479210 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 13.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 13.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sERRORobjective_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: 1789480053.00993848 seconds ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_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 + 15.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 15.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.75sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 15.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.93sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 15.93sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336368 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336368 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795754 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795754 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 2.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.48sINFOros2_control_node[2026-09-15 13:43:34.744] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-09-15 13:43:34.744] [info] Accepted new action goal ×2 + 2.85sINFOobjective_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 + 2.86sINFOros2_control_node[2026-09-15 13:43:35.119] [info] Got request to cancel active goal. ×2 + 2.86sINFOros2_control_node[2026-09-15 13:43:35.119] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1789479815.13664842 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.41sINFOobjective_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: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.42sINFOobjective_server_nodecaller: ×6 + 3.42sINFOobjective_server_nodetype: 0 ×6 + 3.42sINFOobjective_server_nodename: "" ×6 + 3.42sINFOobjective_server_nodeinstance_id: "" ×6 + 3.42sINFOobjective_server_node ×6 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852448 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852448 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789479815.74394178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:35.958] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:35.958] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814259 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814259 ms (missed cycles : 5).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617444 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617444 ms (missed cycles : 2).[0m ×2 + 5.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.98sINFOros2_control_node[2026-09-15 13:43:38.238] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-09-15 13:43:38.238] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769263 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769263 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489674 ms (missed cycles : 4). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489674 ms (missed cycles : 4).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.332256 ms (missed cycles : 8). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.332256 ms (missed cycles : 8).[0m ×2 + 9.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347930 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347930 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 13.85sERRORobjective_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: 1789479826.11460638 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 15.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.15sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.41sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 15.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[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 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684251 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684251 ms (missed cycles : 6).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695523 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695523 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867553 ms (missed cycles : 5). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867553 ms (missed cycles : 5).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494082 ms (missed cycles : 4). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494082 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173434 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173434 ms (missed cycles : 4).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2).[0m ×2 + 13.30sINFOobjective_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 + 13.31sERRORobjective_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: 1789480031.51989651 seconds ×3 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.86sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 13.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789480032.11811018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 14.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.23sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Received new action goal ×2 + 14.23sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Accepted new action goal ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2).[0m ×2 + 15.87sWARNros2_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 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2202 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816736 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816736 ms (missed cycles : 3).[0m ×2 + 7.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.00401275 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.39sINFOros2_control_node[2026-09-15 13:46:54.682] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-09-15 13:46:54.682] [info] Accepted new action goal ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164659 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164659 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.636433 ms (missed cycles : 9). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.636433 ms (missed cycles : 9).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 10.69sINFOros2_control_node[2026-09-15 13:46:56.984] [info] Received new action goal ×2 + 10.69sINFOros2_control_node[2026-09-15 13:46:56.984] [info] Accepted new action goal ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508020 ms (missed cycles : 6). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508020 ms (missed cycles : 6).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 12.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.54sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 12.54sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 13.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 14.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 15.08sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 16.65sWARNros2_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 + 16.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 61 errors · 34 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 + 0.00sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-15 13:47:45.513] [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: 1789480065.51804948 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480070.25360322 seconds ×3 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892639 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892639 ms (missed cycles : 3).[0m ×2 + 6.31sWARNros2_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 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212761 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212761 ms (missed cycles : 4).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.060661 ms (missed cycles : 6). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.060661 ms (missed cycles : 6).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179853 ms (missed cycles : 5). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.179853 ms (missed cycles : 5).[0m ×2 + 10.04sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.06sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_video_auth_proxy-23process has died [pid 7385, 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 + 10.06sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.06sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_bridge_auth_proxy-22process has died [pid 7384, 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 + 10.06sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.06sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.07sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.07sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.08sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.08sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.08sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.09sINFOvideo_server-21process has finished cleanly [pid 7383] ×2 + 10.09sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.10sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.10sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.10sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.11sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.11sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.12sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.12sINFOcontroller_managerShutdown request received.... + 10.12sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.12sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.12sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.12sINFOvideo_server2026/09/15 13:47:55 INF shutting down gracefully ×2 + 10.12sINFOvideo_server2026/09/15 13:47:55 INF [WebRTC] closing ×2 + 10.12sINFOvideo_server2026/09/15 13:47:55 INF [RTSP] closing ×2 + 10.12sINFOvideo_server2026/09/15 13:47:55 INF waiting for running hooks ×2 + 10.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.12sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.12sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOcontroller_managerShutting down the controller manager. + 10.13sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.13sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.13sERRORmove_groupStack trace (most recent call last) in thread 7736: ×2 + 10.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.13sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.13sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.13sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e1748a63, in __clone ×2 + 10.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.13sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.13sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e16bbaa3, in ×2 + 10.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.13sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2e194ddb3, in ×2 + 10.13sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb2e20b1b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e1cdf620, in rclcpp::Rate::sleep() ×2 + 10.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e1c21d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2e1be3087, in ×2 + 10.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2e191c390, in __cxa_throw ×2 + 10.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2e1906a54, in std::terminate() ×2 + 10.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2e191c0d9, in ×2 + 10.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2e1906ff4, in ×2 + 10.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e16478fe, in abort ×2 + 10.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e166427d, in raise ×2 + 10.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2e16bdb2c, in pthread_kill ×2 + 10.13sERRORmove_groupAborted (Signal sent by tkill() 7294 0) ×2 + 10.14sERRORmove_group-9process has died [pid 7294, 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_gpou3vov --params-file /tmp/launch_params_ih0_qzds --params-file /tmp/launch_params_qax4foe0 --params-file /tmp/launch_params_kuw9leov --params-file /tmp/launch_params_xrl32v_e --params-file /tmp/launch_params_tcjyu8ha']. ×2 + 10.33sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.33sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.34sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.12sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7382] ×2 + 11.13sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.14sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7298] ×2 + 11.15sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7297] ×2 + 11.19sINFOwaypoint_manager_node-11process has finished cleanly [pid 7296] ×2 + 11.19sINFOui_teleop_bridge-18process has finished cleanly [pid 7303] ×2 + 11.20sINFOparameter_manager_node-10process has finished cleanly [pid 7295] ×2 + 11.20sINFOexecute_objective_bridge-17process has finished cleanly [pid 7302] ×2 + 11.25sINFOcomponent_container_mt-16process has finished cleanly [pid 7301] ×2 + 11.29sINFOobjective_server_node[0;m[2026-09-15 13:47:56.802] [moveit_pro_license] [info] ×2 + 11.29sINFOobjective_server_node************************************************* ×4 + 11.29sINFOobjective_server_node* MoveIt Pro License ×2 + 11.29sINFOobjective_server_node* Application has successfully terminated ×2 + 11.42sINFOobjective_server_node_main-14process has finished cleanly [pid 7299] ×2 + 11.43sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.29sINFOcomponent_container_mt-15process has finished cleanly [pid 7300] ×2 + 12.56sINFOweb_bridge-19process has finished cleanly [pid 7304] ×2 + 12.56sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.76sINFOros2_control_node-1process has finished cleanly [pid 7257] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_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 ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904810 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904810 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673207 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673207 ms (missed cycles : 2).[0m ×2 + 8.55sWARNros2_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 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715213 ms (missed cycles : 5). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715213 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762584 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762584 ms (missed cycles : 4).[0m ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 10.00sINFOros2_control_node[2026-09-15 13:43:31.403] [info] Received new action goal ×2 + 10.00sINFOros2_control_node[2026-09-15 13:43:31.403] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336368 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336368 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980409 ms (missed cycles : 2).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795754 ms (missed cycles : 5). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795754 ms (missed cycles : 5).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-09-15 13:43:34.744] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-15 13:43:34.744] [info] Accepted new action goal ×2 + 13.71sINFOobjective_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 + 13.72sINFOros2_control_node[2026-09-15 13:43:35.119] [info] Got request to cancel active goal. ×2 + 13.72sINFOros2_control_node[2026-09-15 13:43:35.119] [info] Canceling active goal... ×2 + 13.74sERRORobjective_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: 1789479815.13664842 seconds ×3 + 13.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.27sINFOobjective_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: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852448 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852448 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789479815.74394178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 14.56sINFOros2_control_node[2026-09-15 13:43:35.958] [info] Received new action goal ×2 + 14.56sINFOros2_control_node[2026-09-15 13:43:35.958] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814259 ms (missed cycles : 5). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814259 ms (missed cycles : 5).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617444 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617444 ms (missed cycles : 2).[0m ×2 + 16.83sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 16.83sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.84sINFOros2_control_node[2026-09-15 13:43:38.238] [info] Received new action goal ×2 + 16.84sINFOros2_control_node[2026-09-15 13:43:38.238] [info] Accepted new action goal ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769263 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769263 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 52 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173434 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sERRORobjective_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: 1789480031.51989651 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789480032.11811018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.90sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229517 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229517 ms (missed cycles : 3).[0m ×2 + 7.91sINFOros2_control_node[2026-09-15 13:47:16.444] [info] Received new action goal ×2 + 7.91sINFOros2_control_node[2026-09-15 13:47:16.444] [info] Accepted new action goal ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690512 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690512 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851333 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851333 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673793 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673793 ms (missed cycles : 2).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2).[0m ×2 + 12.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789480042.02970099 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5).[0m ×2 + 14.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.09sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789480042.68963575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 14.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.29sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3).[0m ×2 + 16.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 29 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789479884.20623684 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.23sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.23sINFOobjective_server_nodecaller: ×6 + 2.23sINFOobjective_server_nodetype: 0 ×6 + 2.23sINFOobjective_server_nodename: "" ×6 + 2.23sINFOobjective_server_nodeinstance_id: "" ×6 + 2.23sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789479884.87484121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789479884.93497467 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.07sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 3.07sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 6.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.72sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.80sINFOobjective_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 + 6.81sINFOobjective_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 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.13sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1789480065.51804948 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.15sINFOobjective_server_nodecaller: ×8 + 3.15sINFOobjective_server_nodetype: 0 ×8 + 3.15sINFOobjective_server_nodename: "" ×8 + 3.15sINFOobjective_server_nodeinstance_id: "" ×8 + 3.15sINFOobjective_server_node ×8 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480070.25360322 seconds ×3 + 7.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 690 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.23sINFOcomponent_container_mt[2026-09-15 13:43:17.013] [moveit_pro_license] [info] ×2 + 0.23sINFOcomponent_container_mt************************************************* ×4 + 0.23sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.23sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.46sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.46sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.47sWARNros2_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 + 0.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.47sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.47sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.47sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.47sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.47sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.47sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.47sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.47sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.47sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.47sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.47sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.64sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.64sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713942 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713942 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.00sINFOros2-5process has finished cleanly [pid 7261] ×2 + 1.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.10sINFOros2_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 + 1.10sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.10sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.14sINFOros2_control_node[2026-09-15 13:43:17.918] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-09-15 13:43:17.919] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.47sINFOros2-7process has finished cleanly [pid 7263] ×2 + 1.50sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.50sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.54sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.54sINFOros2_control_node[2026-09-15 13:43:18.322] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.54sINFOros2_control_node[2026-09-15 13:43:18.322] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.57sINFOros2_control_node[2026-09-15 13:43:18.347] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.57sINFOros2_control_node[2026-09-15 13:43:18.347] [info] Controller state will be published at 50 Hz. ×2 + 1.57sINFOros2_control_node[2026-09-15 13:43:18.352] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[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 + 1.95sINFOros2-6process has finished cleanly [pid 7262] ×2 + 1.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×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 + 1.97sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.02sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 2.02sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 2.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 2.37sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.37sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.37sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.37sINFOforce_torque_sensor_broadcasterconfigure successful + 2.37sINFOros2_control_nodeconfigure successful[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.38sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.38sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.41sINFOros2-8process has finished cleanly [pid 7264] ×2 + 2.69sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.69sINFOcontroller_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_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 2.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 2.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.74sINFOros2-2process has finished cleanly [pid 7258] ×2 + 2.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.86sINFOobjective_server_nodecaller: ×14 + 2.86sINFOobjective_server_nodetype: 0 ×14 + 2.86sINFOobjective_server_nodename: "" ×14 + 2.86sINFOobjective_server_nodeinstance_id: "" ×14 + 2.86sINFOobjective_server_node ×14 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 3.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 3.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.11sINFOros2-3process has finished cleanly [pid 7259] ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.11sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.11sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 3.46sINFOros2-4process has finished cleanly [pid 7260] ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 4.72sWARNros2_control_nodeCamera render tick took 1.89 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 + 5.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.18sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 7.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 8.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.12sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.20sINFOobjective_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 + 8.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.31sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 8.32sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 4.28sWARNros2_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 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[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 9.094298 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094298 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789479884.20623684 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789479884.87484121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789479884.93497467 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1789480053.00993848 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 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 + 0.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.92sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][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: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 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 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7259] ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 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 + 2.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.37sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-15 13:43:55.146] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-15 13:43:55.146] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.79sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.42sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.56sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 4.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_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 + 0.50sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 0.50sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 0.51sERRORobjective_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: 1789480065.51804948 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.05sINFOobjective_server_nodecaller: ×8 + 1.05sINFOobjective_server_nodetype: 0 ×8 + 1.05sINFOobjective_server_nodename: "" ×8 + 1.05sINFOobjective_server_nodeinstance_id: "" ×8 + 1.05sINFOobjective_server_node ×8 + 1.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.52sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480070.25360322 seconds ×3 + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892639 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892639 ms (missed cycles : 3).[0m ×2 + 6.81sWARNros2_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 | ||||
| ✓ 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 2.280720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sERRORobjective_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: 1789480053.00993848 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 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 3.297572 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 1.54sINFOobjective_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 + 1.54sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 1.54sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1789480065.51804948 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.88sINFOobjective_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 + 3.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119426 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789480070.25360322 seconds ×3 + 6.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151269 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 4.28sWARNros2_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 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538976 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 4.28sWARNros2_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 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_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 + 1.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.14sINFOobjective_server_nodecaller: ×4 + 2.14sINFOobjective_server_nodetype: 0 ×4 + 2.14sINFOobjective_server_nodename: "" ×4 + 2.14sINFOobjective_server_nodeinstance_id: "" ×4 + 2.14sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 3.27sWARNros2_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_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 + 1.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.14sINFOobjective_server_nodecaller: ×4 + 2.14sINFOobjective_server_nodetype: 0 ×4 + 2.14sINFOobjective_server_nodename: "" ×4 + 2.14sINFOobjective_server_nodeinstance_id: "" ×4 + 2.14sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 3.27sWARNros2_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_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 + 1.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.14sINFOobjective_server_nodecaller: ×4 + 2.14sINFOobjective_server_nodetype: 0 ×4 + 2.14sINFOobjective_server_nodename: "" ×4 + 2.14sINFOobjective_server_nodeinstance_id: "" ×4 + 2.14sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 3.27sWARNros2_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020080 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982623 ms (missed cycles : 2).[0m ×2 + 1.52sINFOobjective_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 + 1.53sERRORobjective_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: 1789479826.11460638 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074718 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.14sINFOobjective_server_nodecaller: ×4 + 2.14sINFOobjective_server_nodetype: 0 ×4 + 2.14sINFOobjective_server_nodename: "" ×4 + 2.14sINFOobjective_server_nodeinstance_id: "" ×4 + 2.14sINFOobjective_server_node ×4 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789479826.77880239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789479826.86893296 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789479827.47351980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093225 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-15 13:43:47.667] [info] Accepted new action goal ×2 + 3.27sWARNros2_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943410 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789468 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914224 ms (missed cycles : 2).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-15 13:43:56.938] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784232 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878904 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789479838.23457861 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.78sINFOobjective_server_nodecaller: ×4 + 2.78sINFOobjective_server_nodetype: 0 ×4 + 2.78sINFOobjective_server_nodename: "" ×4 + 2.78sINFOobjective_server_nodeinstance_id: "" ×4 + 2.78sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789479838.85154486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789479838.92168689 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350434 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.58sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789479839.56747508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-15 13:43:59.704] [info] Accepted new action goal ×2 + 3.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.546629 ms (missed cycles : 8).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.704534 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908539 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-15 13:44:07.739] [info] Accepted new action goal ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875058 ms (missed cycles : 2).[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067224 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 2.44sERRORobjective_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: 1789479850.07484531 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501611 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789479850.71242404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-15 13:44:10.926] [info] Accepted new action goal ×2 + 3.34sWARNros2_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 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082798 ms (missed cycles : 4).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575552 ms (missed cycles : 3).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964160 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548000 ms (missed cycles : 3).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 0.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.26sINFOobjective_server_nodeFound path in 1 iterations (0.00318612 s). ×2 + 0.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-15 13:44:30.018] [info] Accepted new action goal ×2 + 0.93sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-09-15 13:44:30.450] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457303 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826462 ms (missed cycles : 2).[0m ×2 + 2.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.59sERRORobjective_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: 1789479872.11509013 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3). + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694101 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789479872.94424391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.61sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-15 13:44:33.128] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043415 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637837 ms (missed cycles : 4).[0m ×2 + 6.12sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-09-15 13:44:35.635] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352480 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094298 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094298 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925241 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666796 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789479884.20623684 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789479884.87484121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789479884.93497467 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315005 ms (missed cycles : 4).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 5.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789479885.53934169 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 (2.42e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-09-15 13:44:45.663] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707898 ms (missed cycles : 2).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378561 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789479887.66948295 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310283 ms (missed cycles : 5).[0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.71sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.71sINFOobjective_server_nodecaller: ×2 + 3.71sINFOobjective_server_nodetype: 0 ×2 + 3.71sINFOobjective_server_nodename: "" ×2 + 3.71sINFOobjective_server_nodeinstance_id: "" ×2 + 3.71sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789479889.31829953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960025 ms (missed cycles : 3).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (1.5e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-15 13:44:49.726] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704762 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476115 ms (missed cycles : 4).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511146 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873070 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789479942.84145761 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789479943.45222211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.65sINFOros2_control_node[2026-09-15 13:45:43.615] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-15 13:45:43.616] [info] Accepted new action goal ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000064 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283809 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_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 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×334 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×334 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×668 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×668 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983241 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802386 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934070 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789480009.49058127 seconds ×3 + 3.20sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.20sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390514 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789480010.20449972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-15 13:46:50.419] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975110 ms (missed cycles : 2).[0m ×2 + 4.62sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906102 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100696 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392704 ms (missed cycles : 2).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-15 13:46:58.828] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417362 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789480020.12468052 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926030 ms (missed cycles : 3).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.90sINFOobjective_server_nodecaller: ×2 + 2.90sINFOobjective_server_nodetype: 0 ×2 + 2.90sINFOobjective_server_nodename: "" ×2 + 2.90sINFOobjective_server_nodeinstance_id: "" ×2 + 2.90sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789480021.18929577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096373 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-15 13:47:01.373] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922935 ms (missed cycles : 2).[0m ×2 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705598 ms (missed cycles : 4).[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 5.173434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173434 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886167 ms (missed cycles : 5).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988197 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sERRORobjective_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: 1789480031.51989651 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162098 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789480032.11811018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.90sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-15 13:47:12.436] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639497 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842978 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776651 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673793 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304500 ms (missed cycles : 2).[0m ×2 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203376 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789480042.02970099 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462032 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789480042.68963575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-15 13:47:22.824] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785713 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175933 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1789480053.00993848 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1789480053.00993848 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1789480053.00993848 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103647 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1789480053.00993848 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sERRORobjective_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: 1789480053.00993848 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sERRORobjective_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: 1789480053.00993848 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280720 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925062 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sERRORobjective_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: 1789480053.00993848 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887745 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.26sINFOobjective_server_nodecaller: ×6 + 2.26sINFOobjective_server_nodetype: 0 ×6 + 2.26sINFOobjective_server_nodename: "" ×6 + 2.26sINFOobjective_server_nodeinstance_id: "" ×6 + 2.26sINFOobjective_server_node ×6 + 2.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789480053.64055920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789480053.71069574 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789480054.30445766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_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 + 2.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789480054.32670665 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400860 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.69sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789480055.02296734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-15 13:47:35.137] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228024 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814488 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929136 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1789480065.51804948 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.15sINFOobjective_server_nodecaller: ×8 + 3.15sINFOobjective_server_nodetype: 0 ×8 + 3.15sINFOobjective_server_nodename: "" ×8 + 3.15sINFOobjective_server_nodeinstance_id: "" ×8 + 3.15sINFOobjective_server_node ×8 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907014 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297572 ms (missed cycles : 2).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544725 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-09-15 13:47:45.513] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1789480065.51804948 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.15sINFOobjective_server_nodecaller: ×8 + 3.15sINFOobjective_server_nodetype: 0 ×8 + 3.15sINFOobjective_server_nodename: "" ×8 + 3.15sINFOobjective_server_nodeinstance_id: "" ×8 + 3.15sINFOobjective_server_node ×8 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789480066.12124991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656835 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789480067.25138092 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728046 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789480067.85386133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789480067.85647106 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860008 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.56sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789480068.52885795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789480068.53978181 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789480069.13347054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 40 warnings · 726 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/2026-09-15-13-43-12-691115-189281a9ac46-7209 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407858 ms (missed cycles : 5). + 0.86sINFOros2_control_node-1process started with pid [7257] ×2 + 0.87sINFOmove_group-9process started with pid [7294] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7295] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7296] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7297] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7298] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7299] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7300] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7301] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7302] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7303] ×2 + 0.87sINFOweb_bridge-19process started with pid [7304] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7382] ×2 + 0.87sINFOvideo_server-21process started with pid [7383] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7384] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7385] ×2 + 0.87sINFOros2-2process started with pid [7258] ×2 + 0.87sINFOros2-3process started with pid [7259] ×2 + 0.87sINFOros2-4process started with pid [7260] ×2 + 0.87sINFOros2-5process started with pid [7261] ×2 + 0.87sINFOros2-6process started with pid [7262] ×2 + 0.87sINFOros2-7process started with pid [7263] ×2 + 0.87sINFOros2-8process started with pid [7264] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407858 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF configuration loaded from /tmp/moveit-webrtc-0xahxtzj/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-15 13:43:14.778] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.15sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.15sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOros2_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 + 2.17sINFOros2_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 + 2.19sINFOwaypoint_manager_node[2026-09-15 13:43:15.264] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441029 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441029 ms (missed cycles : 5).[0m ×2 + 2.28sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.27sINFOobjective_server_node[2026-09-15 13:43:16.339] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.44sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.94sINFOcomponent_container_mt[2026-09-15 13:43:17.013] [moveit_pro_license] [info] ×2 + 3.94sINFOcomponent_container_mt************************************************* ×4 + 3.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.17sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.17sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.17sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.17sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.17sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.17sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.17sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.17sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.17sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.17sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.17sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.17sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.17sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.17sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.17sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.17sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.17sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.17sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.17sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.17sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.17sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 4.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 4.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.38sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.38sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.38sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.38sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.38sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.38sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.39sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.39sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.39sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.39sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.40sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.40sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713942 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713942 ms (missed cycles : 2).[0m ×2 + 4.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.71sINFOros2-5process has finished cleanly [pid 7261] ×2 + 4.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 4.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 4.81sWARNobjective_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 + 4.81sINFOros2_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 + 4.81sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.81sWARNros2_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 + 4.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.84sINFOros2_control_node[2026-09-15 13:43:17.918] [info] Controller state will be published at 10 Hz. ×2 + 4.85sINFOros2_control_node[2026-09-15 13:43:17.919] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.13sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.13sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.13sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.18sINFOros2-7process has finished cleanly [pid 7263] ×2 + 5.21sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 5.21sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 5.25sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.25sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.25sINFOros2_control_node[2026-09-15 13:43:18.322] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.25sINFOros2_control_node[2026-09-15 13:43:18.322] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.27sINFOros2_control_node[2026-09-15 13:43:18.347] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.27sINFOros2_control_node[2026-09-15 13:43:18.347] [info] Controller state will be published at 50 Hz. ×2 + 5.28sINFOros2_control_node[2026-09-15 13:43:18.352] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 5.58sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.58sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.58sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.65sINFOros2-6process has finished cleanly [pid 7262] ×2 + 5.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 5.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 5.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 5.69sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.69sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.72sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 5.72sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 5.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 6.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 6.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.08sINFOforce_torque_sensor_broadcasterconfigure successful + 6.08sINFOros2_control_nodeconfigure successful[0m ×2 + 6.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.11sINFOros2-8process has finished cleanly [pid 7264] ×2 + 6.40sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.40sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.40sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 6.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 6.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.44sINFOros2-2process has finished cleanly [pid 7258] ×2 + 6.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.56sINFOobjective_server_nodecaller: ×10 + 6.56sINFOobjective_server_nodetype: 0 ×10 + 6.56sINFOobjective_server_nodename: "" ×10 + 6.56sINFOobjective_server_nodeinstance_id: "" ×10 + 6.56sINFOobjective_server_node ×10 + 6.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 seconds ×3 + 6.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 6.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 6.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 6.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 6.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 6.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 6.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.77sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 6.77sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 6.80sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.80sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.81sINFOros2-3process has finished cleanly [pid 7259] ×2 + 6.81sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.81sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.82sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 7.17sINFOros2-4process has finished cleanly [pid 7260] ×2 + 7.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 8.42sWARNros2_control_nodeCamera render tick took 1.89 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 + 8.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 9.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 10.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 10.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.8s | 28 warnings · 472 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.41sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.53sINFOobjective_server_nodecaller: ×14 + 0.53sINFOobjective_server_nodetype: 0 ×14 + 0.53sINFOobjective_server_nodename: "" ×14 + 0.53sINFOobjective_server_nodeinstance_id: "" ×14 + 0.53sINFOobjective_server_node ×14 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.77sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.78sINFOros2-3process has finished cleanly [pid 7259] ×2 + 0.78sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 4.88sWARNros2_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 ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 363 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 7259] ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.36sINFOobjective_server_nodecaller: ×12 + 0.36sINFOobjective_server_nodetype: 0 ×12 + 0.36sINFOobjective_server_nodename: "" ×12 + 0.36sINFOobjective_server_nodeinstance_id: "" ×12 + 0.36sINFOobjective_server_node ×12 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 4.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.22sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-15-13-43-12-691115-189281a9ac46-7209 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407858 ms (missed cycles : 5). + 0.86sINFOros2_control_node-1process started with pid [7257] ×2 + 0.87sINFOmove_group-9process started with pid [7294] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7295] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7296] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7297] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7298] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7299] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7300] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7301] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7302] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7303] ×2 + 0.87sINFOweb_bridge-19process started with pid [7304] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7382] ×2 + 0.87sINFOvideo_server-21process started with pid [7383] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7384] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7385] ×2 + 0.87sINFOros2-2process started with pid [7258] ×2 + 0.87sINFOros2-3process started with pid [7259] ×2 + 0.87sINFOros2-4process started with pid [7260] ×2 + 0.87sINFOros2-5process started with pid [7261] ×2 + 0.87sINFOros2-6process started with pid [7262] ×2 + 0.87sINFOros2-7process started with pid [7263] ×2 + 0.87sINFOros2-8process started with pid [7264] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407858 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF configuration loaded from /tmp/moveit-webrtc-0xahxtzj/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/15 13:43:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.58sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-15 13:43:14.778] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.15sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.15sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.15sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOros2_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 + 2.17sINFOros2_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 + 2.19sINFOwaypoint_manager_node[2026-09-15 13:43:15.264] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441029 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441029 ms (missed cycles : 5).[0m ×2 + 2.28sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.27sINFOobjective_server_node[2026-09-15 13:43:16.339] [moveit_pro_license] [info] ×2 + 3.27sINFOobjective_server_node************************************************* ×4 + 3.27sINFOobjective_server_node* MoveIt Pro License ×2 + 3.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.44sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 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 + 0.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.92sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][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: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 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 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7259] ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 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 + 2.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.37sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 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 + 0.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.92sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][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: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 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 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7259] ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 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 + 2.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.37sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 525 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985333 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.796] [info] Controller state will be published at 20 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-15 13:43:18.798] [info] JointVelocityController 'on_configure' succeeded. ×2 + 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 + 0.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.56sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.92sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.95sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.95sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][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: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 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 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 1.28sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 7259] ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 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 + 2.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.37sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_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 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 472 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.41sINFOros2-2process has finished cleanly [pid 7258] ×2 + 0.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.53sINFOobjective_server_nodecaller: ×14 + 0.53sINFOobjective_server_nodetype: 0 ×14 + 0.53sINFOobjective_server_nodename: "" ×14 + 0.53sINFOobjective_server_nodeinstance_id: "" ×14 + 0.53sINFOobjective_server_node ×14 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789479799.68947244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789479799.69976091 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.74sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 + 0.74sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9_ji9_8k --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q20asc2l --params-file /tmp/launch_params_uhj87r21 [0m ×2 + 0.77sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.78sINFOros2-3process has finished cleanly [pid 7259] ×2 + 0.78sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 1.13sINFOros2-4process has finished cleanly [pid 7260] ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 4.88sWARNros2_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 ×2 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_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 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 353 info |
+ 0.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 7259] ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780892 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.36sINFOobjective_server_nodecaller: ×12 + 0.36sINFOobjective_server_nodetype: 0 ×12 + 0.36sINFOobjective_server_nodename: "" ×12 + 0.36sINFOobjective_server_nodeinstance_id: "" ×12 + 0.36sINFOobjective_server_node ×12 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789479800.29038692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 4.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.22sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Accepted new action goal ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904810 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.904810 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-15 13:43:27.613] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 316 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789479801.40055585 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 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 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733770 ms (missed cycles : 2).[0m ×2 + 0.10sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.56sINFOobjective_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: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789479802.03205800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.69sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789479802.09233165 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764964 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789479802.82298756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789479802.84628797 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789479803.43843675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750915 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789479803.58903599 seconds ×3 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789479804.30434632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789479804.36447597 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783456 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789479804.96840620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.4544e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-15 13:43:25.095] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.602721 ms (missed cycles : 7).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213706 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 | ||||